{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T00:11:12Z","timestamp":1760227872080,"version":"build-2065373602"},"reference-count":27,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2022,5,2]],"date-time":"2022-05-02T00:00:00Z","timestamp":1651449600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>At present, the cogging torque of permanent magnet synchronous motors (PMSM) seriously limits the Los pointing accuracy of aviation photoelectric stabilization platforms based on PMSM, which also restricts the requirements of ultra-long-distance and high-precision aviation reconnaissance and detection. For this problem, an off-line iterative learning control (ILC) was designed, and on this basis, a control method of negative effect compensation of disturbance (NECOD) is proposed. Firstly, the \u201cdominant disturbance torque\u201d in the system, that is, the cogging torque with the characteristics of position periodicity, was suppressed by off-line ILC according to different positions. Then, for the \u201cresidual disturbance\u201d after compensation, NECOD was used to suppress it. In the constant speed scanning experiment of the aviation photoelectric stabilization platform, the method of combining the off-line iterative learning controller and the negative effect compensation of disturbance (NECOD + ILC) proposed in this paper significantly improved the Los control accuracy of the platform when compared with the classical active disturbance rejection control (ADRC) and ADRC + ILC methods, and the Los pointing error of the constant speed scanning process had only increased by less than 5% when the system had \u00b115% parameter perturbation. In addition, NECOD + ILC has fewer parameters and is easy to adjust, which is conducive to engineering application and promotion.<\/jats:p>","DOI":"10.3390\/s22093464","type":"journal-article","created":{"date-parts":[[2022,5,3]],"date-time":"2022-05-03T08:26:35Z","timestamp":1651566395000},"page":"3464","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Iterative Learning-Based Negative Effect Compensation Control of Disturbance to Improve the Disturbance Isolation of System"],"prefix":"10.3390","volume":"22","author":[{"given":"Xiantao","family":"Li","sequence":"first","affiliation":[{"name":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lu","family":"Wang","sequence":"additional","affiliation":[{"name":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xianqi","family":"Xia","sequence":"additional","affiliation":[{"name":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuzhang","family":"Liu","sequence":"additional","affiliation":[{"name":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bao","family":"Zhang","sequence":"additional","affiliation":[{"name":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,5,2]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"432","DOI":"10.1109\/TIE.2016.2608322","article-title":"A Dynamic Model and Control Method for a Two-Axis Inertially Stabilized Platform","volume":"64","author":"Dong","year":"2017","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"133","DOI":"10.1016\/j.ijleo.2019.05.041","article-title":"Improved disturbance observer based control for airborne photoelectric stabilized platform","volume":"188","author":"Wang","year":"2019","journal-title":"Opt.-Int. J. Light Electron Opt."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"347","DOI":"10.1016\/j.isatra.2020.12.039","article-title":"Robust predictive visual servoing control for an inertially stabilized platform with uncertain kinematics","volume":"114","author":"Liu","year":"2021","journal-title":"ISA Trans."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"526","DOI":"10.1109\/TIE.2004.825365","article-title":"A modular control scheme for PMSM speed control with pulsating torque minimization","volume":"51","author":"Xu","year":"2004","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"3655","DOI":"10.1109\/TPEL.2017.2711098","article-title":"Torque Ripple Minimization of PMSM based on Robust ILC via Adaptive Sliding Mode Control","volume":"33","author":"Liu","year":"2017","journal-title":"IEEE Trans. Power Electron."},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Wang, H., and Leng, J. (2018, January 9\u201311). Summary on development of permanent magnet synchronous motor. Proceedings of the 2018 Chinese Control and Decision Conference (CCDC), Shenyang, China.","DOI":"10.1109\/CCDC.2018.8407219"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"59","DOI":"10.4316\/aece.2012.03009","article-title":"Improved Mathematical Model of PMSM Taking Into Account Cogging Torque Oscillations","volume":"12","author":"Tudorache","year":"2012","journal-title":"Adv. Electr. Comput. Eng."},{"key":"ref_8","unstructured":"Yeo, K.C., Heins, G., and Boer, F.D. (2011, January 7\u201310). Position based iterative learning control to minimise torque ripple for PMSMs. Proceedings of the IECON 2011\u201437th Annual Conference of the IEEE Industrial Electronics Society, Melbourne, Australia."},{"key":"ref_9","unstructured":"Gillespie, R.B., Ghasemi, A.H., and Freudenberg, J. (September, January 30). Human Motor Control and the Internal Model Principle. Proceedings of the 13th IFAC\/IFIP\/IFORS\/IEA Symposium on Analysis, Design, and Evaluation of Human-Machine Systems, Kyoto, Japan."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"170","DOI":"10.1007\/BF01447855","article-title":"The internal model principle for linear multivariable regulators","volume":"2","author":"Francis","year":"1975","journal-title":"Appl. Math. Optim."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"457","DOI":"10.1016\/0005-1098(76)90006-6","article-title":"The Internal Model Principle of Control Theory","volume":"12","author":"Francis","year":"1976","journal-title":"Automatica"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"2099","DOI":"10.1109\/TCYB.2016.2641394","article-title":"Output Containment Control of Linear Heterogeneous Multi-Agent Systems Using Internal Model Principle","volume":"47","author":"Zuo","year":"2017","journal-title":"EEE Trans. Cybern."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"35","DOI":"10.1007\/s12541-009-0069-1","article-title":"Advanced parameter identification for a linear-motor-driven motion system using disturbance observer","volume":"10","author":"Pan","year":"2009","journal-title":"Int. J. Precis. Eng. Manuf."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"456","DOI":"10.1109\/28.287509","article-title":"Chattering reduction of disturbance observer based sliding mode control","volume":"30","author":"Kawamura","year":"1994","journal-title":"IEEE Trans. Ind. Appl."},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Shtessel, Y., Edwards, C., Fridman, L., and Levant, A. (2014). Disturbance Observer Based Control: Aerospace Applications. Sliding Mode Control and Observation, Springer. Chapter 8.","DOI":"10.1007\/978-0-8176-4893-0"},{"key":"ref_16","first-page":"55","article-title":"A Novel Dead-Time Compensation Method using Disturbance Observer","volume":"2","author":"Youn","year":"2002","journal-title":"J. Power Electron."},{"key":"ref_17","unstructured":"Gao, Z. (2006, January 4\u201316). Active disturbance rejection control: A paradigm shift in feedback control system design. Proceedings of the 2006 American Control Conference, Minneapolis, MN, USA."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"238","DOI":"10.1016\/j.arcontrol.2017.05.003","article-title":"Active Disturbance Rejection Control: Old and New Results","volume":"44","author":"Feng","year":"2017","journal-title":"Annu. Rev. Control"},{"key":"ref_19","first-page":"101","article-title":"From PID Technique to Active Disturbances Rejection Control Technique","volume":"15","author":"Han","year":"2002","journal-title":"Basic Autom."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"5205","DOI":"10.1109\/ACCESS.2017.2681697","article-title":"Output Predictor-Based Active Disturbance Rejection Control for a Wind Energy Conversion System With PMSG","volume":"5","author":"Li","year":"2017","journal-title":"IEEE Access"},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"6960","DOI":"10.1109\/TIE.2017.2688969","article-title":"Real-Time Hardware-in-the-Loop Simulation of Permanent Magnet Synchronous Motor Drives under Stator Faults","volume":"64","author":"Griffo","year":"2017","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_22","first-page":"147","article-title":"Iterative Learning Control\u2014Analysis, Design, Integration and Applications","volume":"2","author":"Bien","year":"1998","journal-title":"Kluwer Acad. Publ."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"655","DOI":"10.1109\/TIE.2013.2257136","article-title":"A Self-Learning Solution for Torque Ripple Reduction for Nonsinusoidal Permanent-Magnet Motor Drives Based on Artificial Neural Networks","volume":"61","author":"Flieller","year":"2014","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_24","unstructured":"Kong, X., He, Z., and Wei, X. (2010, January 28\u201330). An algorithm for precisely estimating loop-delay in digital predistortion system. Proceedings of the 2010 International Conference on Communications, Circuits and Systems (ICCCAS), Chengdu, China."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"6785","DOI":"10.1109\/TIE.2017.2694410","article-title":"Extended State Observer-Based Integral Sliding Mode Control for an Underwater Robot With Unknown Disturbances and Uncertain Nonlinearities","volume":"64","author":"Cui","year":"2017","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"98","DOI":"10.1109\/TASE.2016.2618010","article-title":"Extended-State-Observer-Based Funnel Control for Nonlinear Servomechanisms With Prescribed Tracking Performance","volume":"14","author":"Wang","year":"2017","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"ref_27","unstructured":"Gao, Z. (2003, January 17\u201319). Scaling and bandwidth-parameterization based controller tuning. Proceedings of the 2003 American Control Conference, Washington, DC, USA."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/9\/3464\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T23:05:23Z","timestamp":1760137523000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/9\/3464"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,5,2]]},"references-count":27,"journal-issue":{"issue":"9","published-online":{"date-parts":[[2022,5]]}},"alternative-id":["s22093464"],"URL":"https:\/\/doi.org\/10.3390\/s22093464","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2022,5,2]]}}}