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A Design Method of Attraction Law for Discrete Time Controller Using Disturbance Differential Compensation

A technology of discrete time and design method, applied in the general control system, adaptive control, control/regulation system, etc., can solve the problems that the controller cannot be realized, and the dynamic characteristics of the system error are not considered.

Active Publication Date: 2021-02-26
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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  • A Design Method of Attraction Law for Discrete Time Controller Using Disturbance Differential Compensation
  • A Design Method of Attraction Law for Discrete Time Controller Using Disturbance Differential Compensation
  • A Design Method of Attraction Law for Discrete Time Controller Using Disturbance Differential Compensation

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Embodiment Construction

[0089] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0090] figure 1 Block diagram of the servo system. refer to figure 2 — Figure 49 , a method for designing an attractive law of a discrete-time controller using a disturbance differential suppression strategy, a discrete servo system that uses a differential compensation for disturbance and effectively suppressing interference, and a method for designing an attractive law of a discrete-time controller includes the following steps:

[0091] Step 1. Given a reference signal r k

[0092] given 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:

[0093] 1) Square wave signal, M=0

[0094]

[0095] 2) Triangular wave signal, M=1

[0096]

[0097] 3) S curve, M=3

[0098]

[0099] Among them, A is the amplitude, and N is the s...

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Abstract

The invention discloses a method for designing a discrete time controller using interference differential compensation by an attraction law. The method comprises the following steps: generating a reference signal by a given module; constructing a corresponding interference differential compensation feedback link according to a specific form of a given reference signal, and using the output signalfor interference compensation in the discrete time controller; and constructing ideal error dynamic state based on the attraction law, designing the discrete time controller according to the ideal error dynamic state, and treating the signal obtained by the current controller as the input of a servo object. The specific controller parameter tuning can be performed according to the indicator that characterizes the convergence performance of the system, and provides concrete expressions of the steady-state error band, the absolute attraction layer and the monotone subtraction region characterizing the tracking error convergence process are provided. The discrete time controller design provided by the invention adopts corresponding interference differential compensation measures according tothe given reference signal, and improves tracking precision by suppressing interference.

Description

technical field [0001] The invention relates to a method for designing an attractive law of a discrete-time controller using an interference differential suppression strategy. The method is suitable for a position servo system and also for other industrial applications. 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 designed according t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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