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Partially cyclically repetitive controller applied to position servo system

A technique for repetitive controllers and servo systems, applied to controllers with discontinuous output signals, electric controllers, etc., can solve problems such as reduced system control accuracy and increased internal model order

Active Publication Date: 2013-11-20
南京鼎新电子科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

if T s If it is too large, the control accuracy of the system will decrease; if it is too small, the order of the internal model will increase

Method used

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  • Partially cyclically repetitive controller applied to position servo system
  • Partially cyclically repetitive controller applied to position servo system
  • Partially cyclically repetitive controller applied to position servo system

Examples

Experimental program
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Embodiment

[0192] In this embodiment, a linear motor servo system is used as an example to perform repetitive tracking tasks in a fixed interval, and its position reference signal has a 1 / M cycle symmetric characteristic. When the servo system enters the steady-state stage, the disturbance term in the system model will show obvious 1 / M cycle symmetry characteristics. The discrete repetitive controller designed in this embodiment is used as the position loop controller in the three-loop control system of the linear motor, and the current loop and the speed loop adopt the PI control algorithm.

[0193] Before designing the position loop controller, it is necessary to establish the mathematical model of the servo object other than the position loop, including the speed loop, current loop, power driver, linear motor body and detection device (see figure 2 ).

[0194] Obtaining the Mathematical Model of the Servo Object Using the Least Square Identification Algorithm

[0195] the y k+1 -0...

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PUM

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Abstract

The invention relates to a repetitive controller of a position servo system. Reference signals with symmetrical periods are generated in a given link; a cycle feedback link is constructed; an ideal error dynamic state is formed based on the discrete time unit vector serialized attraction law; according to an error dynamic equation, a signal conversion mould is constructed, and an output signal of the signal conversion mould is applied to correction of the repetitive controller; and a signal obtained through the computation of a current controller is taken as input of a servo object. A specific controller parameter setting operation can be carried out according to indexes of convergence performance of a representation system, and a monotone decreasing area, an absolute attraction layer and a steady-state error band boundary of a representation trace error convergence process are provided. A closed-loop system can completely eliminate cyclically symmetric interference signals and realize that the position servo system follows the change of reference signals. The invention provides a cyclically repetitive controller capable of remarkably reducing the occupied space of a memory, effectively restraining the symmetric interference and improving the control precision.

Description

technical field [0001] The invention relates to a repetitive controller of a position servo system suitable for partial periodic symmetric reference signals, and also suitable for periodic operation processes in industrial occasions. Background technique [0002] In order to track the periodic reference signal / suppress the periodic disturbance, the repetitive controller has the characteristics of "memory" and "learning", which corrects the control input of the previous cycle with the tracking error signal to form the current control input. This repetitive control technology has been applied to rotating electrical machines, hard disk drives, VCD / DVD, UPS, power electronic circuits, and power quality control. [0003] The theoretical results of repetitive control obtained so far focus on the analysis and design based on the internal model principle. If a certain signal is regarded as the output of an autonomous system, and the polynomial generating the signal is put into a st...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/14
Inventor 孙明轩邬玲伟胡轶毕宏博管海娃齐丽强
Owner 南京鼎新电子科技有限公司
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