Repeated controller with frequency adaptive capability, and control method

Abstract

The invention discloses a repeated controller with a frequency adaptive capability, and a control method. The controller comprises a repeated control gain module, a positive feedback gain module, an addition ring, an internal model constant module or an internal model low-pass filter, an internal model time delay module, a fraction phase lead compensation module, and a compensator module. The method comprises the steps: forming a repeated controller internal model through one positive feedback path, designing the repeated control gain module, the internal model low-pass filter, the phase lead compensation module and a compensator to achieve the no-error tracking of a reference signal or the elimination of harmonic waves at all orders. The controller and method are characterized in that the repeated controller can automatically track the frequency change of the reference signal when the sampling frequency of a system does not change, the gains of a base wave and the gains at all harmonic frequencies are the biggest, thereby achieving the no-error tracking or elimination of all harmonic waves, and solving a problem that the steady-state output error of the repeated controller is increased in conventional repeated control when the frequency change of the reference signal changes.

Description

Technical field [0001] The invention relates to a repetitive controller with frequency self-adapting ability and a control method, used for tracking or completely eliminating harmonic signals without static error, and belongs to the field of repetitive controllers of industrial control. Background technique [0002] The repetitive controller based on the internal model principle can track periodic reference signals or disturbances without static error, which has been widely concerned by researchers. The general repetitive controller uses a delay time of T 0 To construct the fundamental period as T 0 The internal model of the periodic signal will be embedded in the control loop, so that the periodic signal (fundamental or each harmonic) can be tracked or suppressed without static error. In practical applications, the repetitive controller is based on The digital method realizes the internal model of the periodic signal, and the internal model delay time is N (N is the ratio of the...

AI Technical Summary

Problems solved by technology

However, general repetitive controllers still use integers instead of fractional beat delays, which will greatly reduce the gain of the repetitive controller at the fundamental frequency or harmonics, thereby weakening the effect of the repetitive controller and greatly increasing the output steady-state error

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