H-infinity feedback and iterative learning coordination control method based on error analysis

An iterative learning and coordinated control technology, applied in the field of servo control, can solve the problems of low control precision, inability to effectively suppress non-repeatable disturbance signals, and inability to completely overcome the influence of tracking errors, so as to improve control performance and reduce repeatable disturbances and the effect of non-repeatable interference, the effect of good trajectory tracking ability

Active Publication Date: 2014-07-02
杭州力为科技有限公司
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Problems solved by technology

[0006] In order to overcome the shortcomings of existing servo control methods that cannot completely overcome the influence of repetitive disturbances on tracking errors, cannot effectively suppress non-repeatable disturbance signals, and have low control accuracy, the present invention provides a method that can effectively reduce repeatable disturbances and non-repeatable disturbances. The influence of the error analysis-based H ∞ Feedback and Iterative Learning Coordination Control Method

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  • H-infinity feedback and iterative learning coordination control method based on error analysis
  • H-infinity feedback and iterative learning coordination control method based on error analysis
  • H-infinity feedback and iterative learning coordination control method based on error analysis

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[0069] Example: consider the figure 1 The two-order model of a servo system is shown, and the second-order transfer function of the controlled system can be obtained from the figure:

[0070] G ( s ) = K p K v s 2 + K v s + K p K v

[0071] Among them, K P Position loop proportional gain, K V Speed ​​control loop gain. Proportional gain coefficient K P =c p ω F , K V =c v ω F , where ω F is the natural angular frequency, c p and c v is the proportional coefficient, the value is c p ≈0.24, c v ≈0.96.

[0072] Combined w...

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Abstract

The invention discloses an H-infinity feedback and iterative learning coordination control method based on error analysis. Two errors overline(e<r>(t)) and overline(e<nr>(t)) are defined, and frequency spectrums of repeatable interference and unrepeatable interference are estimated by analyzing signals of the two errors in actual operation so as to design a filter Q(s) and a feedback controller K(s) to enable coordination work of iterative learning control and H-infinity feedback control. Influences of the repeatable interference and the unrepeatable interference can be reduced by the aid of coordination work of iterative learning control and H-infinity feedback control, so that a control system has excellent astringency to carry out more accurate trajectory tracking.

Description

technical field [0001] The present invention relates to a method in the technical field of servo control, in particular to a H ∞ Feedback and iterative learning coordination control method. Background technique [0002] During the actual repeated operation of the servo control system, there are repeatable and non-repeatable disturbances. Traditional control methods, such as feedback control, usually use the error information of the current processing process to obtain the control input signal through a certain control algorithm to act on the controlled object. Once the controller is designed, the tracking error of each processing cycle is basically the same. The control performance cannot be improved, and the trajectory tracking error will not be gradually reduced when repeated processing is performed. In fact, the traditional control method only uses the error information of the current machining process, but the information of the previous machining process is not used. ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/00
Inventor 徐建明吴世名俞立周延松陆群张健
Owner 杭州力为科技有限公司
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