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Fractional Periodic Repetitive Controller for Position Servos

A repeating controller, fractional period technology, applied in the field of position servo systems, can solve the problems of inability to suppress periodic disturbances, poor dynamic quality, etc.

Active Publication Date: 2017-11-07
嘉兴琥珀科技有限公司
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Problems solved by technology

[0007] In order to overcome the shortcomings of the existing repetitive control method that cannot suppress the periodic disturbance of the same frequency as the reference position signal in the position servo system and the poor dynamic quality, the present invention provides a method for effectively suppressing the same frequency as the reference position signal in the position servo system. Fractional periodic repetitive controller suitable for position servo with periodic disturbance and good dynamic quality

Method used

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  • Fractional Periodic Repetitive Controller for Position Servos
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  • Fractional Periodic Repetitive Controller for Position Servos

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Embodiment Construction

[0090] The present invention will be further described below in conjunction with the accompanying drawings.

[0091] refer to Figure 1 to Figure 17 , a fractional periodic repetitive controller suitable for position servo, given a position reference signal r with fractional periodic symmetry k , the signal waveform of one period is as figure 1 shown, satisfied

[0092]

[0093] Among them, P and Q are both integers and P>Q, and N is the number of sampling points within one cycle of the signal. Equation (1) shows that the current signal value depends on the value before the Q / P cycle, and the signal that satisfies this characteristic is said to have Q / P cycle symmetry characteristics. The operator ± in Eq. the location of the decision; order but

[0094]

[0095] It is not difficult to see that a period of r k The signal consists of P small segments. Each small segment has positive and negative signal values, but its waveform is the same. For such signals with f...

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Abstract

A fractional period repetitive controller suitable for position servo, which is based on the chattering-free attraction law of sinusoidal switching, further introduces the idea of ​​repetitive control for tracking periodic signals and suppressing periodic disturbances, based on the fractional periods of disturbance signals in the time domain Symmetrical characteristics, designing a fractional periodic repetitive control method based on the sinusoidal switching attraction law, seeking a control sequence so that the output can accurately track the periodic reference input after a finite control step. The invention effectively suppresses the periodic disturbance with the same frequency as the reference position signal in the position servo system, and has good dynamic quality.

Description

technical field [0001] The invention relates to repetitive control technology, and is especially suitable for the position servo system under the fractional period reference signal, and also suitable for other periodical operation processes in industrial occasions. Background technique [0002] The actual control system will inevitably be subject to various disturbances from outside or inside the system. Among the many disturbance sources, in addition to completely unknown measurement noise, there are also disturbance signals with partially known information. For example, in the servo system used in the fields of industrial robots and precision machining, when the reference position signal is a periodic signal, there is a periodic disturbance with the same frequency as the reference position signal during its operation, and this periodic disturbance is often the most disturbed by the system. main ingredient. If it is not suppressed, it will not only affect the tracking acc...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 孙明轩周文委邬玲伟胡轶张有兵
Owner 嘉兴琥珀科技有限公司
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