Repetitive controller and control method thereof and feedback control system

A technology of repetitive controllers and feedback channels, applied in general control systems, control/regulation systems, electric controllers, etc., can solve problems such as the inability to meet the requirements of system control performance and reduce the stability margin of the control system

Active Publication Date: 2011-07-27
VERTIV CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If the above-mentioned traditional repetitive controller is used for control, the large gain of the medium and high frequency harmonics in the repetitive controller will often reduce the overall stability margin of the control system, which cannot meet the control performance requirements of the actual system

Method used

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  • Repetitive controller and control method thereof and feedback control system
  • Repetitive controller and control method thereof and feedback control system
  • Repetitive controller and control method thereof and feedback control system

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Experimental program
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specific Embodiment approach 1

[0034] Such as figure 2 As shown, it is a structural diagram of the repetitive controller in this specific embodiment, including an internal model part 4 , a cycle delay module 5 , a first compensation module 6 and a specific frequency gating module 7 . Specific frequency gating module 7 is frequency selection module , for the error signal Specific harmonics in the frequency selection, it is connected in series with the internal model part 4, the cycle delay module 5, and the first compensation module 6, and is set at the input end of the internal model part 4.

[0035] Wherein, the internal model part 4 is a first internal model, including an adding loop 41 , an internal model filter module 42 and an internal model period delay module 43 . The internal model filtering module 42 is , It can be a filter or a constant less than 1. The internal model period delay module 43 is . The first input end of the adding loop 41 is the input end of the internal model part 4, a...

specific Embodiment approach 2

[0045] The difference between this specific embodiment and the first specific embodiment is: the frequency selection module in this specific embodiment Set at the output end of the first compensation module 6, and the frequency selection module in the specific embodiment one Set at the input end of the internal model part 4.

[0046] The repeating controller in this specific embodiment is such as Figure 4 as shown, Figure 4 Each module and implementation mode 1 figure 2 The corresponding modules are the same, only the position of the specific frequency gating module 7 is different. but Figure 4 The transfer function of the repeated controller shown is still the same as figure 2 The transfer function of the repeated controller shown is the same, still the expression (2) above. therefore, Figure 4 The shown repetitive controller still achieves specific harmonic cancellation.

[0047] In addition, from the above analysis, the specific frequency gating module 7 is ...

specific Embodiment approach 3

[0048] The difference between this specific embodiment and the first specific embodiment is: the frequency selection module in this specific embodiment It is located on the forward channel of the internal model part 4, and the frequency selection module in the specific embodiment one Set at the input end of the internal model part 4.

[0049] The repeating controller in this specific embodiment is such as Figure 5 as shown, Figure 5 Each module and implementation mode 1 figure 2 The corresponding modules are the same, only the position of the specific frequency gating module 7 is different. frequency selection module Taking the discrete cosine transform (DCT) filter as an example, at this time, the transfer function expression of the repetitive controller is:

[0050] (3)

[0051] right Figure 5 The repeated controller shown is simulated, and the parameter settings are the same as those in the specific implementation mode 1. figure 2 The parameter settings...

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Abstract

The invention discloses a repetitive controller, which comprises an internal model part, a cycle delay module, a compensation module and a frequency-specific gating module, wherein the input quantity of the repetitive controller is input from the input end of the internal model part; the internal model part, the cycle delay module and the compensation module are connected in series with one another; and the frequency-specific gating module is connected in series with the internal model part, the cycle delay module and the compensation module or is arranged on a forward channel of the internal model part. In the repetitive controller, the frequency-specific gating module is arranged, so that only a selected frequency-specific harmonic wave can be filtered out of an error signal, and the repetitive controller can perform harmonic elimination on the frequency-specific harmonic wave.

Description

technical field [0001] The invention relates to a repetitive controller, in particular to a repetitive controller capable of eliminating resonance for a specific frequency, a control method thereof and a feedback control system comprising the repetitive controller. Background technique [0002] Over the years, the tracking of periodic signals and disturbance suppression and compensation issues have been the focus of many researchers, and the repetitive control based on the internal model control principle is a very effective control method. The structure of the control system composed of traditional repetitive controllers is as follows: figure 1 As shown, the input given amount of the control system is , the output is , the amount of control error of the control system (ie ) as input to the repeating controller Input into repeat controller 100. The repetitive controller 100 includes an internal model part 1, a cycle delay module 2 and a compensation module 3 connect...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/32
CPCG05B13/04
Inventor 杨国顺卓清锋
Owner VERTIV CORP
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