Fractional periodic repetitive controller suitable for position servo

A repeating controller, fractional period technology, applied in the field of position servo system, can solve problems such as poor dynamic quality and periodic disturbance

Active Publication Date: 2016-02-17
嘉兴琥珀科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] In order to overcome the shortcomings of the existing position servo system that cannot be repeatedly controlled to suppress the periodic disturbance of the same frequency as the reference position signal and the poor dynamic quality, the present...

Method used

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  • Fractional periodic repetitive controller suitable for position servo
  • Fractional periodic repetitive controller suitable for position servo
  • Fractional periodic repetitive controller suitable for position servo

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Embodiment Construction

[0090] The present invention will be further described below in conjunction with the accompanying drawings.

[0091] refer to Figure 1 to Figure 17 , a fractional periodic repetitive controller suitable for position servo, given a position reference signal r with fractional periodic symmetry k , the signal waveform of one period is as figure 1 shown, satisfied

[0092] r k = ± r k - Q N P - - - ( 1 )

[0093] Among them, P and Q are both integers and P>Q, and N is the number of sampling points within one cycle of the signal. Equation (1) shows that the current signal value depends on the value before the Q / P cycle, and the signal that satisfies this characteristic is said to have Q / P...

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Abstract

The invention discloses a fractional periodic repetitive controller suitable for a position servo. The fractional periodic repetitive controller constructs a chattering-free attractive rule based on sine switching, further introduces a suppression idea of repetitive control on tracking and periodic disturbance of periodic signals, designs a fractional periodic repetitive control method based on the sine switching attractive rule according to fractional periodic symmetrical characteristics of disturbance signals in a time domain, and seeks a control sequence so that the output can track the periodic reference input accurately after limited control steps. The fractional periodic repetitive controller effectively suppresses the periodic disturbance at the same frequency of the reference position signals in the position servo system, and has good dynamic quality.

Description

technical field [0001] The invention relates to repetitive control technology, and is especially suitable for the position servo system under the fractional period reference signal, and also suitable for other periodical operation processes in industrial occasions. Background technique [0002] The actual control system will inevitably be subject to various disturbances from outside or inside the system. Among the many disturbance sources, in addition to completely unknown measurement noise, there are also disturbance signals with partially known information. For example, in the servo system used in the fields of industrial robots and precision machining, when the reference position signal is a periodic signal, there is a periodic disturbance with the same frequency as the reference position signal during its operation, and this periodic disturbance is often the most disturbed by the system. main ingredient. If it is not suppressed, it will not only affect the tracking acc...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 孙明轩周文委邬玲伟胡轶张有兵
Owner 嘉兴琥珀科技有限公司
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