Plug-in type rapid repetitive controller and control method

Abstract

The invention discloses a plug-in type rapid repetitive controller and a control method. The controller is composed of a feedforward gain module, a repetitive control gain module, a positive feedback gain module, two additive loops, an internal model constant module or an internal model low-pass filter, an internal model time-delay module, and a compensator module. The method is characterized in that a repetitive controller internal module is formed by a positive feedback path and the repetitive control gain module, the an internal model low-pass filter, the compensator module, and a feedforward gain channel are designed in the repetitive controller to form a new plug-in type rapid repetitive controller, thereby realizing error-free tracking of a reference signal or eliminating harmonic. According to the invention, the introduced feedforward gain module and the traditional repetitive controller are connected in parallel to form a novel plug-in type rapid repetitive controller that is capable of carrying out error-free tracking or elimination of all harmonics; and a defect of a slow dynamic response of the traditional repetitive controller can be overcome and the dynamic response speed of the whole controller is improved.

Description

technical field [0001] The invention relates to a plug-in fast repetitive controller and a control method, which are used for static-difference-free tracking or complete elimination of harmonic signals, and belong to the field of repetitive controllers for industrial control. Background technique [0002] Repetitive controllers based on the internal model principle can track periodic reference signals or disturbances without static error, and have been widely concerned by researchers. A general repetitive controller uses a delay link that delays a fundamental period T to construct the internal model of the fundamental period signal, and inserts it into the control loop, so that there is no static error tracking or elimination of the signal with a fundamental period T or Its various harmonic signals. However, the slow dynamic response of repetitive controllers has always been a difficult problem for researchers to solve. At present, the composite control strategy composed o...

AI Technical Summary

Problems solved by technology

But the slow dynamic response of repetitive controllers has always been a difficult problem for researchers to solve

At present, the composite control strategy composed of repetitive controller and other controllers is a method to solve the slow dynamic response of repetitive control, but this method not only needs to design the repetitive controller but also consider the design of other controllers, so the design method is relatively difficult. complex

Another way to improve the dynamics of the repetitive controller is to use a special repetitive controller that modifies the delay time of the internal model for some specific order harmonics without static error tracking or elimination, but this repetitive controller is only for partial harmonics. Waves, cannot work on all subharmonics, not universal

Images