Adaptive error symbol integration robust repetitive control method for electromechanical servo system

Abstract

The invention discloses an adaptive error symbol integration robust repetitive control method for an electromechanical servo system, which comprises the steps of establishing a mathematical model of the electromechanical servo system; constructing a system design model; and designing an adaptive error symbol integration robust repetitive controller and a performance theorem and stability certification of the adaptive error symbol integration robust repetitive controller. The control method disclosed by the invention can enable the electromechanical servo system to acquire semi-global progressive tracking performance. In addition, compared with a traditional internal mold principle based linear respective control method, the adaptive error symbol integration robust repetitive control method can also effectively reduce the sensibility of the repetitive controller for noises and avoid a high memory requirement of the controller.

Description

technical field [0001] The invention relates to the technical field of electromechanical servo control, in particular to an adaptive error symbol integral robust repetitive control method of an electromechanical servo system. Background technique [0002] The electromechanical servo system has outstanding advantages such as fast response, high transmission efficiency and convenient energy acquisition, and is widely used in many important fields. However, with the improvement of the industrial technology level, the performance requirements for the electromechanical servo system are also getting higher and higher. The tracking performance of an electromechanical servo system depends on the design of the controller. However, many modeling uncertainties in the system make it difficult to design a high-performance controller. In practical engineering, most electromechanical servo systems perform tasks in cycles, such as computer disk drives, rotary lathes, and manipulators. For...

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Problems solved by technology

But the traditional repetitive control has the following problems: First, the traditional repetitive control is equivalent to automatically updating all the values ​​of the periodic modeling uncertainty in one period, which means that there are infinitely many values ​​to be updated, which requires the control law The bandwidth of the control law is very high, so it puts forward very high requirements on the memory of the microprocessor implementing the control law; secondly, when the traditional repetitive control law is executed, each cycle of the modeling uncertainty The values ​​are independent of each other, which is similar to discrete random noise, so the traditional repetitive control method is very sensitive to noise, which will affect the tracking performance of the system

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