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A Discrete Repetitive Control Method Based on Law of Attraction

A technology of repeated control and control method, applied in the direction of the controller with discontinuous output signal, electric controller, etc., can solve the problem that the symmetrical signal cannot be effectively processed, and achieve the effect of fast tracking error convergence and high interference suppression performance.

Active Publication Date: 2018-01-09
ZHEJIANG UNIV OF TECH
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Problems solved by technology

Most of the existing repetitive controller designs are carried out in the frequency domain. Since the signal symmetry is expressed in the time domain, it cannot effectively process more complex symmetric signals.

Method used

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  • A Discrete Repetitive Control Method Based on Law of Attraction
  • A Discrete Repetitive Control Method Based on Law of Attraction
  • A Discrete Repetitive Control Method Based on Law of Attraction

Examples

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example

[0130] Example: Taking the motor servo system to perform repetitive tracking tasks as an example, its given position reference signal has periodic symmetry characteristics, and the motor adopts three-loop control, wherein the speed loop and current loop controllers are all provided by the ELMO driver, and the repetitive design of the present invention The controller is used as the position loop controller in the motor three-loop control system, which is provided by the TMS320F2812 development board.

[0131] For a position reference signal with periodic symmetry, when the servo system enters a steady state, the system disturbance will also exhibit the same periodic symmetry. In order to design a discrete repetitive controller based on the finite-time inverse hyperbolic cosine law of attraction, the given position reference signal is a sinusoidal signal in the embodiment, satisfying

[0132] r k = r k-N

[0133] To design a position loop controller, it is necessary to establ...

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Abstract

The invention discloses a discrete repetition control method based on the attraction law, and the method comprises the steps: generating a periodically symmetric reference signal through a given link; constructing a periodic feedback link; constructing an ideal error dynamic state based on a limited time inverse hyperbolic cosine attraction law; constructing an e / v signal conversion module according to the ideal error dynamic state, wherein an output signal is used for discretizing a correction amount of a repetition controller; calculating an output signal of the repetition controller, enabling the output signal to serve as the input of a servo object, and enabling a servo system to change along with a reference signal. The method employs a time domain design, is good in control precision, and completely inhibits a periodic interference signal.

Description

technical field [0001] The invention relates to a repetitive controller under periodic reference / disturbance signals, which is suitable for discrete repetitive control methods in industrial control. Background technique [0002] The current repetitive control technology mainly focuses on the frequency domain analysis and design method based on the internal model principle. This control method "embeds" a periodic signal generator in a stable closed-loop system to form a positive feedback link with a periodic delay mechanism. , through the accumulation of previous cycle control experience to form a control effect, to solve the problem of tracking the cycle reference signal or suppressing the cycle interference signal. The application background of this control technology includes power electronic circuits, motor servo systems and other repetitive operation processes. [0003] For continuous-time systems, the repetitive controller needs to construct an arbitrary periodic signa...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B11/14
CPCG05B11/14
Inventor 孙明轩邬玲伟胡轶周文委李鹤
Owner ZHEJIANG UNIV OF TECH
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