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Half circle repetitive controller based on ideal error trends

An ideal error dynamic, repetitive controller technology, applied in the field of repetitive servo systems, can solve the problem of not being able to balance memory usage and control accuracy

Active Publication Date: 2011-10-05
海宁市黄湾镇资产经营有限公司
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Problems solved by technology

[0013] In order to overcome the shortcomings of existing repetitive controllers that cannot take into account both memory usage and control accuracy, the present invention provides a half-cycle repetitive controller based on ideal error dynamics that reduces memory usage and has good control accuracy. controller

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  • Half circle repetitive controller based on ideal error trends
  • Half circle repetitive controller based on ideal error trends
  • Half circle repetitive controller based on ideal error trends

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Embodiment Construction

[0065] The present invention will be further described below in conjunction with the accompanying drawings.

[0066] refer to Figure 2 to Figure 13 , a half-period repetitive controller based on ideal error dynamics. For the sake of brevity (the dynamic characteristics of actual systems can be approximated as second-order systems), the present invention designs a half-period repetitive controller for second-order discrete dynamic systems. A Difference Equation Model Considering a Second-Order Discrete Dynamical System

[0067] the y k+1 +a 1 the y k +a 2 the y k-1 =b 1 u k +b 2 u k-1 +w k (1)

[0068] Among them, y k+1 ,y k ,y k-1 Respectively represent the system output signal at k+1, k, k-1 time; u k , u k-1 are the system input signals at time k and k-1 respectively; w k is the system disturbance signal at time k (including modeling errors caused by factors such as parameter perturbation and external disturbance), a 1 , a 2 , b 1 , b 2 are system...

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Abstract

The invention discloses a half circle repetitive controller based on ideal error trends. A controlled object is a servo system, and a reference signal with half circle symmetry property is given so as to construct the ideal error trends; the half circle repetitive controller is designed according to an ideal error trends equation; and a signal calculated by the controller is used as control inputof the controlled object, so that the servo system varies with the reference signal. The half circle repetitive controller based on the ideal error trends reduces memory usage and has better control precision.

Description

technical field [0001] The invention relates to a control technology of a repetitive servo system, in particular to a repetitive servo system under a half-period symmetrical reference signal. Background technique [0002] Repetitive control is a control technology suitable for repetitive servo systems. This control technology forms a control effect through the accumulation of previous cycle control experience to solve the tracking of periodic reference signals or the suppression of periodic disturbance signals. Most of the existing repetitive controller design methods are frequency domain methods based on the internal model principle. [0003] According to the internal model principle, in order to realize the complete tracking / suppression of the external periodic signal along the entire cycle, the closed-loop system needs to have the same signal realization mechanism inside. The positive feedback of the pure time-delay link can generate any periodic signal, and the period o...

Claims

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Application Information

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IPC IPC(8): G05B11/32
Inventor 孙明轩王辉胡轶孙红伟
Owner 海宁市黄湾镇资产经营有限公司
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