A Fast Attraction Repetitive Control Method for Servo System Using Equivalent Disturbance Compensation
An equivalent disturbance and servo system technology, applied in general control systems, adaptive control, control/regulation systems, etc., can solve problems such as low tracking accuracy and inability to suppress periodic disturbances, and achieve high tracking accuracy, fast convergence performance, The effect of complete suppression of periodic disturbances
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[0171] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.
[0172] refer to Figure 1-Figure 39 , a fast attraction repetitive control method using an equivalent disturbance compensation servo system, the controlled object is a periodic servo system, where, figure 1 is the block diagram of AC permanent magnet synchronous motor servo system; figure 2 Equivalent disturbance observer block diagram; image 3 is a quick draw to duplicate the controller block diagram.
[0173] A method for fast attracting repetitive control of a servo system using equivalent disturbance compensation, comprising the following steps:
[0174] Step 1. Given the continuous time fast law of attraction, satisfy (1);
[0175] Step 2. Calculate the convergence time (4) of the fast law of attraction;
[0176] Step 3. Discretize the fast law of attraction (1), expressed as (5);
[0177] Step 4. Given a periodic reference sign...
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