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Sliding Mode Repetitive Controller for Motor Servo Systems

A technology of repetitive controllers and servo systems, applied in general control systems, adaptive control, control/regulation systems, etc., and can solve the problems of chattering and the inability to completely suppress periodic interference signals.

Active Publication Date: 2019-05-31
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0005] In order to overcome the chattering problem caused by the intermittent function used in the repetitive control technology of the existing motor servo system and the inability to completely suppress the periodic interference signal, the present invention provides a method for eliminating the chattering problem and completely suppressing the periodic interference signal. A sliding-mode repetitive controller for motor-servo systems

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  • Sliding Mode Repetitive Controller for Motor Servo Systems
  • Sliding Mode Repetitive Controller for Motor Servo Systems
  • Sliding Mode Repetitive Controller for Motor Servo Systems

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example

[0108] 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 sampling three-loop control, wherein the speed loop and current loop controllers are 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. Designing a position loop controller requires the establishment of mathematical models of servo objects other than the position loop, including current loops, speed loops, power drives, motor bodies, and detection devices. In this example, the effectiveness of the repetitive controller given by the present invention will be illustrated by numerical simulation.

[0109] For a position reference signal with periodic symmetry, when the servo system enters a steady state, the system dist...

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Abstract

The invention provides a sliding mode repetitive controller for motor servo system. Introduced repetitive control is based on an idea of tracking a periodic signal and inhibiting a periodic interference signal, according to the cyclic symmetric property of the interference signal in a time domain, the sampling sliding mode repetitive controller is designed based on a sine saturation function reaching law, the design is a time domaindesign method. By adopting a finite time reaching law, the discrete repetitive controller is designed based on the finite time reaching law, and the repetitive control technology not only can track a given periodic reference signal, but also can achieve the complete suppression of the periodic interference signal.

Description

technical field [0001] The invention relates to a sliding mode repeat controller used in a motor servo system, and is also suitable for other periodic operation processes in industrial occasions. Background technique [0002] The current repetitive control technology mainly focuses on the frequency domain analysis and design method based on the internal model principle. This method implants the dynamic model of the external acting signal into the controller to form a high-precision feedback. Control System a design principle. The internal model principle states that any feedback control system that can well offset external disturbances or track reference input signals must contain a dynamic model that is the same as the external input signal in its feedback loop. In order to completely eliminate the influence of external disturbances on the motion of the control system, and enable the system to track the no-steady-state error of any form of reference input signal. Thus, so...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 孙明轩周文委卢敏胡轶
Owner ZHEJIANG UNIV OF TECH
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