Multi-period sliding mode repetitive controller for position servo system
A repetitive controller and servo system technology, applied in the general control system, adaptive control, control/regulation system, etc., can solve the problems of slow multi-period interference signals, poor dynamic quality, long control time lag, etc., and achieve fast tracking Effects of convergence, reduced memory usage, and high control precision
Active Publication Date: 2022-02-18
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-period sliding mode repetition controller used in a position servo system. The introduced repetition control is based on the idea of tracking periodic signals and suppressing periodic interference signals. The given reference signal is superimposed by multiple different periodic signals, and different equivalent interference signals are constructed according to the symmetry of different periods; according to the hyperbolic tangent power reaching law, different sub-repetitive controllers are designed and connected in parallel The method is combined into a multi-period sliding mode repetitive controller; then its output signal is calculated as the input of the servo object, so that the servo system follows the change of the reference signal. The invention provides a multi-period sliding mode repetition controller with time-domain design capable of effectively suppressing multi-period interference signals, greatly reducing memory occupation space and high control precision.
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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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