Compound control method and system based on plug-in type rapid repetitive controller

Abstract

The invention discloses a compound control method and system based on a plug-in type rapid repetitive controller. The compound control method comprises: a repetitive controller internal module is formed by a positive feedback path and a repetitive control gain module, an internal model low-pass filter, a compensator module, and a feedforward gain channel are designed in the repetitive controller to form a new plug-in type rapid repetitive controller; and the output of the plug-in type rapid repetitive controller controls a controlled object by the input of the feedback controller, so that error-free tracking of a reference signal or elimination of all harmonics is realized. According to the invention, on the premise that stability of the controlled object is guaranteed by the feedback controller, the introduced feedforward gain module and the traditional repetitive controller are connected in parallel to form a novel plug-in type rapid repetitive controller that is capable of carrying out error-free tracking or elimination of all harmonics; and a defect of a slow dynamic response of the traditional repetitive controller can be overcome and the dynamic response speed of the whole controller is improved.

Description

Technical field [0001] The invention relates to a composite control method based on a plug-in fast repeating controller, which is used for tracking or completely eliminating harmonic signals without static error, and belongs to the field of repeating controllers for 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. A general repetitive controller uses a delay link that delays a fundamental period T to construct the internal model of the fundamental period signal, and inserts it into the control loop, so as to track or eliminate the signal with the fundamental period T or Its various harmonic signals. But the slow dynamic response of repetitive controllers has always been a problem that researchers solve. The current method to improve the dynamics of the repetitive controller is to use a special...

AI Technical Summary

Problems solved by technology

But the slow dynamic response of repetitive controllers has always been a difficult problem for researchers to solve

At present, the method to improve the dynamics of the repetitive controller is to use a special repetitive controller that modifies the delay time of the internal model for some specific orders of harmonics without static error tracking or elimination, but this repetitive controller is only for some harmonics. Does not work on all subharmonics, not universal

The composite control strategy composed of the repetitive controller and other controllers is also a method to solve the slow dynamic response of the repetitive control, but this method still cannot change the characteristics of the slow dynamic response of the repetitive controller

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