Half period repetitive control method based on attractive rule

A one-half, repetitive control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem that symmetrical signals cannot be effectively processed

Inactive Publication Date: 2013-07-10
NANTONG TAIYING NEW MATERIAL SCI & TECH CO LTD
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Problems solved by technology

The design of the above-mentioned repetitive controller is carried out in the frequency domain. Since the si

Method used

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  • Half period repetitive control method based on attractive rule
  • Half period repetitive control method based on attractive rule
  • Half period repetitive control method based on attractive rule

Examples

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Embodiment

[0199] In this embodiment, the linear motor servo system performs repeated tracking tasks on a fixed interval as an example. Its position reference signal has a half-period symmetrical characteristic. The linear motor adopts three-loop control, in which the current loop and speed loop controllers are controlled by ELMO drivers. Provided; the position loop controller is provided by the DSP development board TMS320F2812. (see figure 2 )

[0200] For a position reference signal with a certain half-period symmetric characteristic (see Figure 4 for the half-period symmetric form), when the servo system enters the steady-state phase, the disturbance term in the system model will also present the same dichotomy One of the periodic symmetry properties. In order to design a half cycle repetitive controller based on power ideal error dynamics, the position reference signal in the embodiment is given as a sinusoidal signal. At this time, the reference signal satisfies the one-half pe...

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Abstract

The invention discloses a half period repetitive control method based on an attractive rule. The method comprises the following steps of giving a reference signal provided with half period symmetry, and according to an output signal obtained by detection, generating a tracking error signal through a comparing module; providing an exponential attractive rule provided with limited time attraction characters, and forming an ideal error trend; according to the limited time attraction characters, constructing an e/v signal conversion module; and constructing a half period feedback link, and forming a repetitive control signal. A control signal provided by a repetitive controller serves as a controlled servo object to be input, and the method achieves the aim that a position servo system changes along with the parameter signal by completely removing half period symmetry interference signals. Specific controller parameter setting work can be carried out according to an index of convergence performance of a representation system, and a monotonous reduction region, an absolute attraction layer and a steady state error band border of the representation tracking error convergence process are provided.

Description

technical field [0001] The invention relates to a repetitive control method under a half-period symmetrical reference signal, and is suitable for other periodic operation processes in industrial occasions. Background technique [0002] The repetitive control system has the characteristics of "memory" and "learning", which corrects the control input of the previous cycle by tracking the error signal to form the current control input. This system completely suppresses periodic disturbances and enables precise control. Repeated control technology has been successfully applied in VCD / DVD, hard disk drives, power electronic circuits, UPS, power quality control, and rotating electrical machines and other industrial occasions. [0003] According to the principle of internal model, if a signal is regarded as the output of an autonomous system, and the model of the signal is "embedded" in a stable closed-loop system, the output of the controlled variable will be able to completely t...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 孙明轩胡轶吴星许利达何海港张杰邬玲伟
Owner NANTONG TAIYING NEW MATERIAL SCI & TECH CO LTD
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