[1]卢文晟,张国花,阳 红.PMSLM 的轨迹段标识-前馈 LADRC 及分层 ILC 协同控制[J].机械与电子,2026,44(06):33-41.
　LU Wenshen,ZHANG Guohua,YANG Hong.Trajectory Segment Identification-Feedforward LADRC and Hierarchical ILC Coordinated Control for PMSLM[J].Machinery & Electronics,2026,44(06):33-41.

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PMSLM 的轨迹段标识-前馈 LADRC 及分层 ILC 协同控制()

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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:

44

期数:

2026年06期

页码:

33-41

栏目:

自动控制

出版日期:

2026-06-27

文章信息/Info

Title:

Trajectory Segment Identification-Feedforward LADRC and Hierarchical ILC Coordinated Control for PMSLM

文章编号:

1001-2257 ( 2026 ) 06-0033-09

作者:

卢文晟 ¹ ; 张国花 ² ; 阳 红 ²

1. 上海交通大学机械与动力工程学院,上海 200240 ;

2. 四川省精密超精密加工工程技术研究中心,四川 成都 610200

Author(s):

LU Wenshen¹ ;  ZHANG Guohua² ;  YANG Hong²

( 1.School of Mechanical Engineering , Shanghai Jiao Tong University , Shanghai 200240 , China ;

2.Sichuan Precision and Ultra-Precision Machining Engineering Technology Center , Chengdu 610200 , China )

关键词:

永磁同步直线电机; 线性自抗扰控制; 轨迹规划; 迭代学习

Keywords:

permanent magnet synchronous linear motor ;  linear active disturbance rejection control ;  trajectory planning ;  iterative learning control

分类号:

TP273

文献标志码:

A

摘要:

针对永磁同步直线电机( PMSLM )在重复性点到点运动中对轨迹跟踪精度与抗扰动能力的双重需求,提出一种融合轨迹段标识、全状态前馈线性自抗扰控制( LADRC )与分层学习率迭代学习控制( ILC )的协同控制策略。所构建的控制系统采用三层架构:内层为改进型 LADRC 三环控制器,深度融合 S 曲线轨迹规划生成的位置、速度和加速度状态前馈信号;中间层基于轨迹规划生成的段标识信息,为 ILC 提供结构化索引;外层设计具有轨迹段感知、误差能量自适应和频率选择性的三层学习率调制 ILC 算法,实现从轨迹规划到迭代学习的端到端结构化协同。仿真结果表明,相较于传统方法,所提策略在保证系统稳定性的前提下,显著提升了轨迹跟踪精度、动态响应速度与抗扰动能力,同时有效抑制了速度波动,改善了系统运行平顺性。

Abstract:

To meet the dual demands of trajectory tracking accuracy and disturbance rejection in repetitive point to point motion of Permanent Magnet Synchronous Linear Motors ( PMSLM ), this paper proposes a coordinated control strategy that integrates trajectory segment identification , full state feedforward Linear Active Disturbance Rejection Control ( LADRC ), and hierarchical learning rate Iterative Learning Control ( ILC ) .The control system features a three layer architecture.The inner layer is an improved triple loop LADRC controller that tightly merges the position , velocity , and acceleration feedfor- ward signals generated by S-curve trajectory planning.The middle layer furnishes the ILC with structured indices using the segment labeling information derived from trajectory planning.The outer layer employs a three tier learning rate modulated ILC algorithm endowed with trajectory segment awareness , error energy adaptivity and frequency selectivity , thereby achieving end-to-end structured coordination from trajectory planning to iterative learning.Simulation results demonstrate that , compared with conventional methods , the proposed method significantly improves tracking precision , dynamic response , and disturbance rejection capability while ensuring system stability.Furthermore , it effectively suppresses speed fluctuations and enhances the operational smoothness of the system.

备注/Memo

备注/Memo:

收稿日期: 2026-01-12

基金项目:中国工程物理研究院院长基金( YZJJZQ2022010 );国家重点研发计划(2022YFF070900 , 2023YFB3405800 );国家自然科学基金资助项目( 52206123 )

作者简介:卢文晟 ( 2000- ),男,安徽六安人,硕士研究生,研究方向为永磁同步直线电机系统设计与控制;张国花 ( 1992- ),女,山西吕梁人,博士,研究方向为超精密装备部件;阳 红 ( 1985- ),男,湖南衡阳人,国家级领军人才和青年人才,正高级工程师,研究方向为超精密切削装备,通信作者, E-mail : oyanghongscu@163.com 。

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