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Discrete sliding mode repetitive control method for periodic servo system

A servo system and repetitive control technology, which can be applied to controllers with discontinuous output signals, electric controllers, etc., and can solve the problem of not many time-domain design methods.

Active Publication Date: 2011-02-16
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The use of repetitive controllers is often "plugged in", that is, adding repetitive control links to the originally designed feedback control loop. Most of the current repetitive controller designs are frequency-domain methods, and there are not many time-domain design methods.

Method used

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  • Discrete sliding mode repetitive control method for periodic servo system
  • Discrete sliding mode repetitive control method for periodic servo system
  • Discrete sliding mode repetitive control method for periodic servo system

Examples

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Embodiment 1

[0065] Refer to attached Figure 1-3

[0066] A discrete sliding mode repetitive control method suitable for a periodic servo system, comprising the following steps:

[0067] (1) Identify the differential equation model of the current servo system, and convert the differential equation model into a state space model:

[0068] ; Formula 1

[0069] in: Indicates that the servo system is in The tracking error variable at time, for control variable at time, for the servo system in Interference signal at time (satisfies the matching condition), is the servo system matrix, is the control coefficient of the system;

[0070] (2) Select the linear switching function as , is the gain parameter, The selection of determines the convergence and convergence speed of the system on the sliding surface;

[0071] (3) Construct the discrete reaching law: ;Formula 2

[0072] Where: parameters As the approach velocity exponent, choose , which determines that the ...

Embodiment 2

[0117] refer to Figure 4-8 , with the linear motor as the controlled servo system, further illustrate the present invention:

[0118] Figure 4 It is a structural block diagram of the linear servo system provided by the present invention. Considering the position servo, the speed loop and the current loop adopt PI control, and the setting has been completed, so it is necessary to design a position controller (that is, a discrete sliding mode repetitive controller). The linear servo system used in this embodiment includes a linear motor body 501 , a control module 502 , a power driver 503 , a grating ruler detection module 504 , a reference signal setting module 505 , an information storage module 506 , and a driving module 507 . Wherein, the reference signal given module 505, the control module 502 and the information storage module 506 are realized by the DSP control card 508; the PI controller of the speed loop and the current loop and the power driver 503 are included in...

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Abstract

The invention relates to a discrete sliding mode repetitive control method for a periodic servo system, which comprises the following steps: identifying a difference equation model of the current servo system, and converting the difference equation model into a state space model; selecting a linear switching function; forming a discrete reaching law, and constructing an ideal switching dynamic state according to the formed discrete reaching law; constructing a discrete sliding mode repetitive controller model according to the ideal switching dynamic state; and using current control variables as the control command for a controlled servo system to enable the servo system to change with reference signals. The invention can weaken the system chattering, and simultaneously inhibit the influence of periodic disturbance on the system, thereby improving the control quality and realizing the accurate control on periodic tracking tasks.

Description

technical field [0001] The invention relates to a discrete sliding mode repetitive control method suitable for a position servo system under a periodic reference signal. technical background [0002] Since the current control system is mainly realized by using digital computer, this leads people to study the control technology of discrete time system. Since the 1980s, people began to pay attention to the sliding mode control technology of discrete-time systems, and realized that there are only pseudo-sliding modes in the sliding-mode control of discrete-time systems, and there is no sliding mode like the continuous-time case. Key elements of this control technology include: [0003] 1) Quantitative characterization of pseudo-sliding modes; [0004] 2) Arrival conditions; [0005] 3) Interference suppression means. [0006] Different characterizations of the pseudo-sliding mode, or different arrival conditions, lead to different sliding mode controllers; interference supp...

Claims

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Application Information

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IPC IPC(8): G05B11/14
Inventor 孙明轩范伟云王辉
Owner ZHEJIANG UNIV OF TECH
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