摘要：为取得满意的控制效果，通常采用较为复杂的控制策略以克服超声波电机的非线性及时变特性，但随之带来了系统复杂度的提高与性价比的降低。迭代学习控制策略的算法复杂度相对较低，且能有效跟踪重复运行轨迹。本文设计超声波电机转速、位置双闭环控制系统，转速内环采用变参数PID控制器。基于改进的双层最优迭代学习控制策略，设计了超声波电机位置闭环控制器。应用表明，所提超声波电机迭代学习控制策略有效，且控制性能优于传统的PD型迭代学习策略。
关键词：超声波电机；位置控制；迭代学习；双层最优

Abstract: To achieve satisfactory control effect, complex control strategies were proposed to overcome the nonlinear and the timevarying characteristics of ultrasonic motor, but those bring the enhancing of the systems complexity and reduce the costreduction. The complexity of algorithm as to iterative learning control strategy is relatively low, and this control strategy is able to effectively track the repeat running trace. This paper,designed the speedposition double closed loop control system, the inner loop used the PID controller with variable parameters, and designed the USM iterative learning position closed controller based on the improved doubleoptimal iterative learning control strategy. The application shows that the proposed iterative learning strategy is effective, and the control performance is better than that of traditional PD type iterative learning strategy.
Key words: ultrasonic motor； position control；iterative learning；doubleoptimal