Specific repetitive controller and control method

Abstract

The invention discloses a specific repetitive controller and a control method. The controller comprises a repetitive control gain module, a negative feedforward gain module, a position feedforward module, two addition rings and three time delay modules. In the method, a main path, a positive feedforward path, a negative feedforward path and a positive feedback path are combined to realize error-free (nk+ / -m) harmonic tracking or eliminating, wherein the parameters of the positive and negative feedforward gain modules are determined according to the times of the harmonics to be traced or eliminated, and the error elimination speed is regulated by the repetitive control gain module. The controller and the method has the advantages of achieving a high error elimination speed, using fewer storage units for realizing digitalization and providing a general repetitive controller expression mode. For improving the stability and anti-interference performance of the system, the invention also provides an improved (nk+ / -m) harmonic repetitive controller which has a low pass filter and a phase advancer to meet requirements for practical use.

Description

technical field [0001] The invention proposes a specific sub-repetitive controller and a control method, which are used for error-free tracking or complete elimination of (nk±m) sub-harmonic signals, and belong to the field of repetitive controllers for industrial control. Background technique [0002] Over the years, the tracking of periodic signals and disturbance suppression and compensation have been the focus of many researchers, and the repetitive control based on the internal model principle is a very effective control method. The general repetitive controller adopts the delay time τ as T o The positive feedback form of the delay link of To construct the fundamental period as T o The internal model of the periodic signal and embed it in the control loop, so that the static non-difference tracking control or disturbance elimination can be implemented for this periodic signal (including the sinusoidal fundamental wave and its harmonics). The delay time from input to...

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Problems solved by technology

If a general repetitive controller is used to eliminate such (nk±m) harmonics, the periodic disturbance will disappear very slowly, which often cannot meet the control performance requirements of the actual system.

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