Adaptive PI control of ultrasonic motor using iterative learning methods
1Department of Electrical Engineering, Henan University of Science and Technology, No. 263, KaiYuan Street, LuoYang, 471023, PR China.
Abstract:
PI (proportional integral) controller is widely utilized in ultrasonic motor control systems. However, PI controllers which use fixed parameters is often difficult to ensure that the control performance meets the expectations. Based on the idea of iterative learning control (ILC), a new online adaptive adjustment method for PI control parameters is proposed. Simple P (proportional) type and PD (proportional differential) type iterative learning controllers are designed to adjust the proportional and integral coefficients of PI controller online. Using this method, the coefficients of PI controller are adaptively adjusted with the change of motor characteristics to ensure the control performance meets expectations. This method can improve the nonlinear expression ability of the controller, so that its input-output relationship can better match the characteristics of the controlled object, thereby improving the control performance. Results of comparative experiments indicate the validity of the proposed control strategy.
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