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Discrete time controller non-switching attraction law design method through adoption of interference difference inhibition policy

A discrete-time, design method technology, applied in general control systems, adaptive control, control/regulation systems, etc., can solve problems such as the inability of controllers to be realized and the dynamic characteristics of system errors not considered.

Active Publication Date: 2018-11-16
ZHEJIANG UNIV OF TECH
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Problems solved by technology

The law of attraction reflects the expected dynamic characteristics of the system error when disturbances are not considered; in the presence of disturbances, the controller directly based on the law of attraction cannot achieve

Method used

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  • Discrete time controller non-switching attraction law design method through adoption of interference difference inhibition policy
  • Discrete time controller non-switching attraction law design method through adoption of interference difference inhibition policy
  • Discrete time controller non-switching attraction law design method through adoption of interference difference inhibition policy

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Embodiment Construction

[0088] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0089] figure 1 Block diagram of the servo system. refer to figure 2 — Figure 40 , a non-switching attraction law design method for a discrete-time controller using a disturbance differential suppression strategy, including the following steps:

[0090] Step 1. Given a reference signal r k

[0091] Reference signal r k is a polynomial of time variable k, and M represents the highest power of the polynomial; the three reference signals are as follows:

[0092] 1) Square wave signal, M=0

[0093]

[0094] 2) Triangular wave signal, M=1

[0095]

[0096] 3) S curve, M=3

[0097]

[0098] Among them, A is the amplitude, and N is the sampling frequency of the reference signal in one cycle;

[0099] Step 2. Construct ideal error dynamics

[0100] For the no-switching law of attraction

[0101] e k+1 =(1-ρ(e k ))e k (4) ...

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Abstract

The present invention provides a discrete time controller non-switching attraction law design method through adoption of an interference difference inhibition policy. The method comprises the steps of: generating reference signals by a given module; constructing a corresponding interference difference compensating feedback link according to the concrete form of the given reference signals, whereinsignals output in the interference difference compensating feedback link are used for interference compensation in a digital controller; constructing an idea error dynamic state based on the non-switching attraction law, designing the digital controller according to the idea error dynamic state, and taking signals obtained through calculation of the current controller as input of a servo object.The setting of concrete controller parameters can be performed according to indexes representing system convergence performances, and concrete expressions of steady state error bands representing thetrack error convergence process, an absolute attraction layer and a monotone decreasing area. The discrete time controller non-switching attraction law design method employs a corresponding interference difference inhibition policy according to the given reference signals to improve the tracking precision of the servo system through inhibition of interference and consider the control effect of eliminating the system buffeting.

Description

technical field [0001] The invention relates to a digital controller non-switching attraction law design method using an interference differential suppression strategy. The method is suitable for a position servo system and is also suitable for other industrial application occasions. Background technique [0002] The reaching law method is an effective tool for the design of the sliding mode controller of the servo system. Due to the use of the reaching law, the dynamic process of the closed-loop system is characterized by the approaching process and the sliding mode, and its stability and convergence are determined by the specific reaching law and switching determined by the form of the function. The actual controller design needs to consider the influence of various disturbances, and the disturbance suppression measures should be "embedded" in the original reaching law, and the modified reaching law can form the ideal switching dynamics. In this way, the controller design...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 孙明轩胡志云李威张钰
Owner ZHEJIANG UNIV OF TECH
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