One-fourth period repetitive controller based on attractive rule

Abstract

The invention discloses a one-fourth period repetitive controller based on the attractive rule. The one-fourth period repetitive controller comprises a giving link, a one-fourth period feedback link, an e / v signal transformation module and a subtraction / addition ring. The giving link generates a reference signal provided with one-fourth period symmetry; the one-fourth period feedback link is constructed; the e / v signal transformation module is constructed in dependence on the attractive rule, an output signal of the e / v signal transformation module is applied to the correction of the repetitive controller; then an output signal of the repetitive controller is worked out and taken as an input of a controlled 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 one-fourth period symmetric interference signals, and the accurate control of the closed-loop system is achieved. By means of the time domain design of the one-fourth period repetitive controller, symmetric signal interference is effectively restrained, the control precision is improved, and the occupied space of a memory is remarkably reduced.

Description

technical field [0001] The invention relates to repetitive control technology, in particular to a quarter-cycle repetitive controller suitable for inverters, and also suitable for periodic operation in industrial occasions. Background technique [0002] To design a repetitive controller according to the principle of internal model, it is necessary to put the generation polynomial of the periodic signal into the closed loop of the system to form a periodic delay feedback link. Regardless of the waveform of the input signal, as long as it repeats in the fundamental cycle, the output of the controller will accumulate the input signal cycle by cycle to completely suppress the periodic interference. Current repetitive control techniques focus on frequency domain design based on internal model principles. In order to achieve complete tracking / suppression with respect to the entire cycle of an external periodic signal, the internal model principle requires that the system contains...

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Problems solved by technology

[0012] In order to overcome the shortcomings of the existing full-cycle repetitive controllers and half-cycle repetitive controllers that cannot effectively process more complex symmetrical signals and consume a large amount of memory, the present invention provides a 1 / 4 cycle repetitive control based on the law of attraction method processor for efficient processing of more complex symmetric signals with a significantly reduced memory footprint

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