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Control method based on virtual location field repetitive controller

A technique of repeating controllers and control methods, applied in simulators, program control, computer control, etc., can solve problems such as no consideration, achieve good position cycle interference, simple structure, and easy implementation

Inactive Publication Date: 2013-04-03
TSINGHUA UNIV
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Problems solved by technology

[0005] There is an important problem in the practical application of this method of designing repetitive controllers in the position domain: the repetitive controller may only be used to suppress (track) periodic disturbances (commands), and other controllers are needed to ensure the stability of the system robustness and robustness, these controllers can use traditional time-domain sampling controllers, which is not considered in the design of repetitive controllers in the position domain

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  • Control method based on virtual location field repetitive controller
  • Control method based on virtual location field repetitive controller
  • Control method based on virtual location field repetitive controller

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Embodiment Construction

[0019] Such as figure 1 Shown is the control process intention based on the virtual position domain repeat controller, the controller is composed of a time domain controller 1, a first fixed time sampling switch 2, a fixed position sampling switch 3, a repeat controller 4, a memory 5, an interpolation device 6, the second fixed-time sampling switch 7 and execution unit 8, wherein the repetition controller 4, memory 5 and fixed-position sampling switch 3 constitute a virtual position domain repetition controller 9, and the control process of the controller is as follows:

[0020] 1) At the system input end, the error signal e is obtained according to the system input command r and the feedback signal y;

[0021] 2) Every other fixed position Δθ, the fixed position sampling switch 3 is closed, and the repeating controller 4 calculates the output value ur according to the input error signal e, and stores the output value ur in the memory 5;

[0022] 3) Every fixed time period T ...

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Abstract

The invention discloses a control method based on a virtual location field repetitive controller and belongs to the field of industrially controlled repetitive control equipment. A virtual location field repetitive controller (9) is composed of a repetitive controller (4), a storage (5) and a position sampling switch (3); the stability and response characteristic of a system are ensured by a timedomain controller (1); and the compensation value of inhibition position periodic interference is calculated by the virtual location field repetitive controller according to an error signal e. The control method provided by the invention has the following beneficial effects: 1) the virtual location field repetitive controller can be regarded as an embedded compensator, and is stopped or started according to the actual condition of the system; 2) the virtual location field repetitive controller can be used for well inhibiting (tracking) the location periodic interference (command), and improving the robustness and stability of the system; and 3) the virtual location field repetitive controller provided by the invention has a simple structure and is easy to implement.

Description

technical field [0001] The invention belongs to the field of repetitive control equipment for industrial control, in particular to a control method based on a virtual location domain repetitive controller. Background technique [0002] Position cycle disturbance (position cycle command) is a common disturbance (command) in machining equipment, for example, the torque (thrust) fluctuation of the motor (linear motor), eccentricity in the mechanical transmission chain and the rotation of the robot arm Inertia fluctuations will introduce position cycle interference, and in the process of cam processing, the feed amount of the feed axis needs to be given according to the rotation angle of the spindle, that is, the command to track the cycle change of the position. In general, periodic position disturbances (commands) create periodic motion deviations that degrade system performance. Studying the control method of suppressing (tracking) the position cycle disturbance (command) is...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/042
Inventor 刘成颖李志军孟凡伟王昊
Owner TSINGHUA UNIV
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