Multi-cycle sliding mode repetitive controller for position servo system
A repetitive controller and servo system technology, applied in general control systems, adaptive control, control/regulation systems, etc., can solve problems such as poor dynamic quality, long control time lag, slow multi-cycle interference signals, etc.
Active Publication Date: 2018-12-25
TAIZHOU UNIV
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[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, the control time lag is too long, and chattering caused by adopting intermittent characteristics, the present invention provides a fast suppression of multi-cycle interference A discrete multi-period sliding mode repetitive controller based on hyperbolic tangent power reaching law with good dynamic quality, greatly reduced memory usage and high control accuracy, and the design process is carried out in the time domain
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[0127] 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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The invention discloses a multi-cycle sliding mode repetitive controller for a position servo system. The introduced repetitive control is based on the ideas of tracking periodic signals and suppressing periodic interference signals. A given reference signal is formed by superimposing a plurality of different periodic signals, and different equivalent interference signals are constructed accordingto different periodic symmetry; according to the hyperbolic tangent power approach law, different sub-repetitive controllers are designed and combined into the multi-cycle sliding mode repetitive controller in a parallel connection mode; and then an output signal is calculated as the input of a servo object, and the servo system follows the change of the reference signal. The multi-cycle slidingmode repetitive controller is capable of effectively suppressing the multi-cycle interference signals and greatly reducing memory space occupation and has high control precision in time domain design.
Description
technical field [0001] The invention relates to repetitive control technology and sliding mode control technology, in particular to a multi-period sliding mode repetitive controller used in a position servo system, and is also applicable to other periodic operation processes 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. Existing repetitive control techniques mainly focus on frequency domain analysis and design methods based on internal model principles. The essence of the internal model principle is to use the periodic delay e -Ts The internal model of a periodic signal with a period of T is constructed in the form of positive feedback, and it is embedded in a stable closed-loop system. The output of the internal model will accumulate the input signal cycle by cycle, so that no static error tracking control can be realized ...
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Login to View More IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 邬玲伟陈光林志明崔跃利梅盼陈跃王三秀朱莺莺
Owner TAIZHOU UNIV