Feed-forward scheme of D-type iterative learning control(ILC) law which is based on incremental integral-separated PI control scheme is introduced to improve the tracking performance of the current and position.

• 在传统的增量式积分分离PI控制算法的基础上,引入一D型迭代学习控制前馈环节,提高了电流和位置跟踪的快速性和跟踪精度,速度环为中间环节,在积分分离PI调节的基础上加了bang-bang控制,以加快速度环的响应速度。