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Fractional-phase-lead-compensation repetitive controller and control method thereof

A repetitive controller and phase advance technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as insufficient compensation, failure to meet system stability, and excessive compensation

Inactive Publication Date: 2015-12-16
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

Phase lead compensation is the key to ensure the stability of repetitive controllers, but at low sampling frequency, the traditional integer phase lead compensation will have the problem of overcompensation or undercompensation, which cannot meet the needs of system stability

Method used

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  • Fractional-phase-lead-compensation repetitive controller and control method thereof
  • Fractional-phase-lead-compensation repetitive controller and control method thereof
  • Fractional-phase-lead-compensation repetitive controller and control method thereof

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Embodiment Construction

[0048] The present invention will be further described below in conjunction with the accompanying drawings.

[0049] like figure 1 The block diagram of the repetitive controller with fractional phase lead compensation is shown as shown, including the repetitive control gain module, positive feedback gain module, adding loop, internal model constant module or internal model low-pass filter, internal model delay module, fractional phase lead Compensation module, compensator module, wherein, the input terminal of repetitive control gain module is used as the input terminal of the repetitive controller, the output terminal of repetitive control gain module is connected to the input terminal of the addition loop, and the output terminal of the addition loop is connected to the internal model constant module Or the input terminal of the internal model low-pass filter, the output terminal of the internal model constant module or the internal model low-pass filter is connected to the ...

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Abstract

The invention discloses a fractional-phase-lead-compensation repetitive controller and a control method thereof. The controller is composed of a repetitive control gain module, a positive feedback gain module, an additive loop, an internal model constant module or an internal model low-pass filter, an internal model time-delay module, a fractional phase lead compensation module, and a compensator module. The method is characterized in that a repetitive controller internal module is formed by a positive feedback path and the repetitive control gain module, the internal model low-pass filter, the fractional phase lead compensation module, and the compensator module are designed in the repetitive controller to realize error-free tracking of a reference signal or eliminate harmonics. According to the invention, because the introduced fractional phase lead compensation link enables the beat number of phase lead compensation to be extended to a fraction from the traditional integer, the gain selection range of the repetitive controller is expanded, the error convergence speed is accelerated, the stability and anti-interference capability of the system with the low-sampling frequency are improved, error-free tracking or elimination of all harmonics can be realized; and flexibility of the design of other parameters of the repetitive controller is enhanced.

Description

technical field [0001] The invention relates to a fractional phase lead compensation repetitive controller and a control method, which are used for static error-free tracking or complete elimination of harmonic signals, and belong to the field of industrial control repetitive controllers at low sampling rates. Background technique [0002] Repetitive controllers based on the internal model principle can track periodic reference signals or disturbances without static error, and have been widely concerned by researchers. General repetitive controllers achieve good results at high sampling frequency, but high sampling rate not only requires high-precision, high-speed sensors but also takes up too much CPU time and memory resources. Therefore, in order to save system cost, it is a current development trend to appropriately reduce the sampling frequency. Phase lead compensation is the key to ensure the stability of repetitive controllers, but at low sampling frequency, the tradi...

Claims

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Application Information

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IPC IPC(8): G05B13/02
Inventor 赵强松叶永强徐国锋周晓宇
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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