Discrete double cycle repetitive control method based on hyperbolic secant attraction law

Abstract

The invention discloses a discrete two-cycle repeating control method based on a hyperbolic secant attraction law. A reference signal formed via superposition of two different cyclic symmetries is given; according to cyclic symmetry characteristics of interference signals of different cycles in a time domain, ideal error dynamics are respectively produced based on the hyperbolic secant attractionlaw; according to the ideal error dynamics, an e / v signal conversion module is established, output signals are used for correction of sub-repetitive controllers, and a discrete double cycle repetitivecontroller is formed after the sub-repetitive controllers are connected in parallel; output signals of the discrete double cycle repetitive controller are calculated as input to a servo object, and aservo system is enabled to change along with reference signals. Specific controller parameter setting work can be performed according to amplitudes of different periodic interference and indexes indicating system tracking error convergence performance and steady state performance; a method for calculating a monotonous decreasing region indicating the tracking error convergence performance and thesteady state performance, an absolute attraction layer and a steady state error band boundary is provided. The invention provides a discrete double cycle repetitive controller based on the hyperbolicsecant attraction law; the controller is advantaged by time domain design, fast suppression of multi-cycle interference, good dynamic quality, reduced memory occupancy and high control precision.

Description

technical field [0001] The invention relates to a discrete double-period repetitive controller under periodic reference / disturbance signals, and is also applicable to the periodic operation process in industrial control. Background technique [0002] Over the years, the tracking of periodic signals and interference suppression and compensation have been the subject of many scholars' attention. Existing repetitive control techniques mainly focus on frequency-domain design methods based on internal model principles. The essence of the internal model principle is to use the periodic delay e -Ts The internal model of a periodic signal with a period of T is constructed in the form of positive feedback, and it is embedded in a stable closed-loop system. The output of the internal model will accumulate the input signal cycle by cycle, so that no static error tracking control can be realized for this periodic signal. or interference suppression. This control technology has been w...

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Problems solved by technology

[0004] In order to solve the problems that the existing single-cycle repetitive control technology suppresses multi-cycle interference signals slowly, the dynamic quality is poor, the control time lag is too long, and chattering caused by adopting intermittent characteristics, the present invention provides a fast suppression of multi-cycle interference , good dynamic quality, greatly reduced memory usage, and high control precision based on a discrete double-period repetitive control method based on the hyperbolic secant law of attraction, and the design process is carried out in the time domain

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