As the DC motor system with repetitive motion, and the known processional moment of motor, a PD controller with accurate trajectory tracking based on iterative learning control was designed in MATLAB, and then with the last iterative learning input and output data sequences, using the least square method fitting the PID control parameters, and then the PID parameters was tested in the DC motor control system. The control effect is excellent. Without a precise mathematical model, the design method can easily access the PID parameters to meet the expectations of the control requirements.%针对重复运动的直流电机系统,利用已知的电机固有的转动惯量,在MATLAB中设计基于迭代学习的PD控制器,获得精确逼近的期望轨迹跟踪,继而利用最后一次迭代学习获得的输入输出数据序列,采用最小二乘法拟合获得PID控制参数,将此PID参数在实际搭建的直流电机平台上试验,获得较好的控制效果.整个设计方法不需要精确的数学模型,且可以方便地获取符合期望控制要求的PID参数.
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