A Discrete Multi-Period Repetitive Controller Based on Law of Attraction

A repetitive controller, multi-cycle technology, applied in adaptive control, general control system, control/regulation system, etc., can solve the problems of long control time lag, poor dynamic quality, slow multi-cycle interference signal, etc., to achieve fast error Convergence effect

Active Publication Date: 2022-02-25
TAIZHOU UNIV
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  • Abstract
  • Description
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Problems solved by technology

[0004] In order to solve the problems that the existing single-cycle repetitive control technology suppresses multi-cycle interference signals slowly, the dynamic quality is poor, and the control time lag is too long, the present invention provides a fast multi-cycle interference suppression, good dynamic quality, and greatly reduced memory usage. And a discrete multi-cycle repetitive controller based on the law of attraction with high control accuracy, and the design process is carried out in the time domain

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  • A Discrete Multi-Period Repetitive Controller Based on Law of Attraction
  • A Discrete Multi-Period Repetitive Controller Based on Law of Attraction
  • A Discrete Multi-Period Repetitive Controller Based on Law of Attraction

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Embodiment

[0124] Taking the permanent magnet synchronous motor servo system as an example to perform repeated tracking tasks composed of multiple periodic signals in a fixed interval, the given position reference signal has periodic symmetry characteristics, and the motor adopts three-loop control, in which the speed loop and The current loop controllers are all provided by the ELMO driver, and the PI algorithm is used to adjust, and the discrete multi-cycle repetitive controller designed by the present invention is used as the position loop controller in the three-loop control system of the motor, which is provided by the DSP development board (see figure 1 ). For a position reference signal with periodic symmetry, when the motor servo system enters the steady-state stage, the system disturbance will also exhibit the same periodic symmetry. Designing a position loop controller requires the establishment of mathematical models of servo objects other than the position loop, including cur...

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Abstract

The invention discloses a discrete multi-period repetitive controller based on the law of attraction. A given reference signal is formed by superposition of multiple different periodic signals, and the equivalent interference signals are respectively constructed according to the periodic symmetry characteristics of the interference signals of different periods in the time domain; according to the law of attraction, the e / v signal conversion module is constructed, and its output The signal is used for the correction amount of the sub-repetitive controller, and is combined into a discrete multi-cycle repetitive controller in parallel; then its output signal is calculated as the input of the servo object, so that the servo system follows the reference signal change. The discrete multi-period repetitive controller designed in time domain provided by the invention is a controller with fast convergence, high control precision, reduced memory occupation, elimination of multi-period interference signals and effective suppression of aperiodic interference signals.

Description

technical field [0001] The invention relates to a discrete multi-period repetitive controller under periodic reference / disturbance signals, and is also applicable to the periodic operation process in industrial control. Background technique [0002] Over the years, the tracking of periodic signals and interference suppression and compensation have been the subject of many scholars' attention. Repetitive control is a kind of control technology suitable for periodic servo system. The existing repetitive control technology mainly focuses on frequency domain design method based on internal model principle. The essence of the internal model principle is to adopt the positive feedback form 1 / (1-e -Ts ) to construct a periodic signal internal model with a period of T, and embed it in a stable closed-loop system, the output of the internal model will accumulate the input signal cycle by cycle to form a control effect, thereby solving the tracking of the periodic reference signal or...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 邬玲伟雷必成陈跃王三秀陈光林志明梅盼
Owner TAIZHOU UNIV
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