Abstract:

There is a class of nonlinear perturbation in the rate system and location system of the multiplespindle rotating machinery, which features multiple and invariant cycles. Assuming that the system meets the continuous Lipschitz condition, the condition in which multicycle nonlinear perturbation of position can be converted to multicycle nonlinear perturbation of time can be obtained. And thus we propose an iterative learning control method, which constructs the learning operator and the feedforward compensation by analyzing the systematic error convergence and the steadystate error signals respectively, and the compensation terms for multicycle nonlinear perturbation of the multiplespindle rotating machinery can be obtained. The imitated model proves that this method can compensate for the systematic multicycle nonlinear perturbation and improve the control precision of the multispindle rotating machinery system.

Key words: multiple spindle rotating mechanical;multi-cycle;nonlinear perturbation;iterative learning control;feedforward compensation;stability