Discrete repetitive controller on basis of power attraction law and control method of discrete repetitive controller

Abstract

The invention relates to a discrete repetitive controller on the basis of a power attraction law and a control method of the discrete repetitive controller. A given link generates periodic symmetric reference signals; a periodic feedback link is created; an ideal dynamic error is created on the basis of the power attraction law; according to the ideal dynamic error,an e / n signal conversion moduleis constructed,and an output signal of the e / n signal conversion module is used as a correction amount of the discrete repetitive controller; an output signal of the repetitive controller is calculated to serve as input of a servo object,so that a servo system changes along with the reference signals. Specific controller parameter setting work can be performed according to indexes representing a system convergence process,and a power monotone reduction region,a power absolute attraction layer and a steady-state error band boundary which represent a tracking error convergence process are provided. The discrete repetitive controller with time-domain design,good control precision,complete suppression of periodic interference signals and effective elimination of slow time-varying non-periodicinterference signals on the basis of the power attraction law and the control method of the discrete repetitive controller are provided.

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] Over the years, the tracking and disturbance suppression of periodic signals has been the focus of many scholars. Existing repetitive control techniques mainly focus on frequency domain analysis and design methods based on internal model principles. The essence of the internal model principle is to "embed" the periodic signal generator into the closed-loop system, and solve the problem of tracking the periodic reference signal or suppressing the periodic disturbance by accumulating cycle-by-cycle control experience of the previous cycle. The application background of this control technology includes power electronic circuit, motor servo system, hard disk / CD servo system, power quality control and other repetitive operation processes. [0003] There...

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Problems solved by technology

[0004] In order to overcome the flutter phenomenon caused by the discontinuous characteristic in the conventional controller design, the convergence speed is slow, and the more complex symmetrical signals cannot be effectively processed, the present invention proposes a controller that satisfies |e k+1 |k | λ k Power law of attraction without chattering for power convergence (parameters satisfy 01), a discrete repetitive controller is designed according to the chattering-free power law of attraction. This repetitive control technology can not only completely suppress the periodic interference signal, but also effectively eliminate the periodic jamming signal

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