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Half-cycle repetitive controller for position servo system

A technique for repeating controllers and servo systems, applied to electric controllers, etc., can solve problems such as reduced system control accuracy and increased internal model order

Active Publication Date: 2013-04-17
辽宁吉尔电子有限责任公司 +1
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  • Abstract
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Problems solved by technology

if T s If it is too large, the control accuracy of the system will decrease; if it is too small, the order of the internal model will increase

Method used

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  • Half-cycle repetitive controller for position servo system
  • Half-cycle repetitive controller for position servo system
  • Half-cycle repetitive controller for position servo system

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Embodiment Construction

[0212] The present invention will be further described below in conjunction with the accompanying drawings.

[0213] refer to figure 2 -4. A half-cycle repetitive controller for a position servo system. For ease of description, the present invention designs a half-cycle repetitive controller for a second-order discrete system. Consider the difference equation model of the following second-order discrete system

[0214] 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 (1)

[0215] Among them, u k-1 , u k ,y k-1 ,y k are the input and output signals of the system at time k-1 and k respectively; w k+1 is the disturbance signal received by the system at time k+1, a 1 ,a 2 ,b 1 ,b 2 corresponding parameters of the system.

[0216] The servo system, whose reference signal r k Satisfy the semi-period symmetric property, that is, satisfy the following relationship

[0217] r k =±r k-N / 2 or r k =±r k′ ...

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Abstract

The invention discloses a half-cycle repetitive controller for a position servo system. Reference signals with half-cycle symmetry are set, a half-cycle feedback link is constructed, and an ideal error dynamic is formed according to a power attraction law; and according to an ideal error dynamic equation, an e / v signal conversion module is constructed, a signal obtained by calculating through the controller is used as control input of a controlled servo object, and the position servo system changes together with the reference signals by completely eliminating half-cycle symmetrical interference signals. By the half-cycle repetitive controller, the internal memory of the controller can be obviously reduced and the periodic interference is quickly and completely suppressed under the half-cycle symmetrical reference signals, and the half-cycle repetitive controller has high cost performance.

Description

technical field [0001] The invention relates to a control technology of a repetitive servo system under a half-period symmetrical reference signal, and is also applicable to the periodical operation process in industrial occasions. Background technique [0002] The repetitive controller has the characteristics of "memory" and "learning". It corrects the control input of the previous cycle with the tracking error signal to form the current control input. It fully suppresses periodic disturbances for precise control. Repeated control technology has been successfully applied to rotating electrical machines, hard disk drives, VCD / DVD, UPS, power electronic circuits, and power quality control. [0003] The repetitive controller is usually designed based on the internal model principle. If a signal is regarded as the output of an autonomous system, the model of the signal is placed in a stable closed-loop system, and the output of the controlled variable will be able to completel...

Claims

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Application Information

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IPC IPC(8): G05B11/32
Inventor 孙明轩何海港许利达吴星胡轶邬玲伟
Owner 辽宁吉尔电子有限责任公司
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