Discrete repetition control method based on attraction law
A technology of repetitive control and control method, which is applied to controllers with discontinuous output signals, electric controllers, etc., and can solve the problems that symmetrical signals cannot be effectively processed.
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[0130] Example: Taking the motor servo system to perform repetitive tracking tasks as an example, its given position reference signal has periodic symmetry characteristics, and the motor adopts three-loop control, wherein the speed loop and current loop controllers are all provided by the ELMO driver, and the repetitive design of the present invention The controller is used as the position loop controller in the motor three-loop control system, which is provided by the TMS320F2812 development board.
[0131] For a position reference signal with periodic symmetry, when the servo system enters a steady state, the system disturbance will also exhibit the same periodic symmetry. In order to design a discrete repetitive controller based on the finite-time inverse hyperbolic cosine law of attraction, the given position reference signal is a sinusoidal signal in the embodiment, satisfying
[0132] r k = r k-N
[0133] To design a position loop controller, it is necessary to establ...
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