A Discrete Repetitive Controller Based on Power Law of Attraction and Its Control Method

Abstract

A discrete repeater based on the power law of attraction and its control method, the given link generates a periodic symmetric reference signal; the periodic feedback link is constructed; the ideal error dynamic is constructed based on the power law of attraction; according to the ideal error dynamic, the e / The output signal of the v signal conversion module is used for the correction value of the discrete repetitive controller; then the output signal of the repetitive controller is calculated as the input of the servo object, so that the servo system follows the reference signal change. The specific controller parameter tuning work can be carried out according to the indicators that characterize the convergence process of the system, and the power monotonously decreasing region, power absolute attraction layer and steady-state error band boundary that characterize the tracking error convergence process are provided. The invention provides a discrete repetitive controller based on power law of attraction and a control method thereof designed in time domain, with good control precision, complete suppression of periodic interference signals and effective elimination of slow time-varying non-periodic interference signals.

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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