Discrete double-period repetitive controller based on inverse hyperbolic sinusoidal law of attraction

Abstract

The invention discloses a discrete two-cycle repetition controller based on an inverse hyperbolic sinusoidal attraction law, and A method comprises the steps: generating a periodic symmetric referencesignal for a given link, and constructing a periodic feedback link; constructing an ideal error dynamic condition based on the inverse hyperbolic sinusoidal attraction law according to different periodic reference signals; constructing an e / v signal conversion module according to the ideal error dynamic condition, wherein an output signal of the module is used as a correction amount of a sub-repetition controller and a discrete two-cycle repetition controller is formed in a parallel manner; and then calculating an output signal as the input of a servo object, so that a servo system follows the reference signal change. The specific setting work of the parameters of a controller can be carried out according to the amplitudes of different periodic interferences and the indexes for representing system tracking error convergence performances and steady performances, and the expressions of a monotone decreasing region, an absolute attraction layer and a steady error zone boundary for representing the tracking error convergence performances and steady performances are given. The controller provided by the invention employs the time domain design, is compatible with the quick inhibition of the multi-cycle interference, is good in dynamic performance, reduces the occupation of the memory, and is high in control precision.

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 interference suppression of periodic signals has 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 embed the signal generation polynomial into a stable closed-loop system, and the output of the internal model will accumulate the input signal cycle by cycle, completely suppressing the periodic interference with the same frequency, and solving the problem of periodic signal tracking and interference suppression. This control technology has been widely used in motor servo systems, power electronic inverters, hard disk / CD servo systems and other repetitiv...

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Problems solved by technology

[0004] In order to overcome the shortcomings of the existing single-cycle repetitive control technology, such as slow suppression of multi-cycle interference, poor dynamic quality, and long control time lag, the present invention provides a feedback-based A discrete two-period repetitive controller with hyperbolic sinusoidal law of attraction, and the design process is carried out in the time domain

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