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Digital controller design method based on exponential type non-switching attraction law

A design method and controller technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of inability to suppress the influence of interference signal performance, low tracking control accuracy, etc.

Active Publication Date: 2019-01-11
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0006] In order to overcome the shortcomings of the existing digital controller design method suitable for position servo systems, which cannot suppress the influence of interference signals on the performance of the servo system and the low tracking control accuracy, the present invention provides an attractive method suitable for the design of digital controllers for position servo systems. legal method

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  • Digital controller design method based on exponential type non-switching attraction law
  • Digital controller design method based on exponential type non-switching attraction law
  • Digital controller design method based on exponential type non-switching attraction law

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Embodiment Construction

[0130] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0131] figure 1 Block diagram of the servo system. refer to figure 2 — Figure 39 , a discrete servo system that adopts disturbance differential compensation and effectively suppresses disturbance, the exponential non-switching law of attraction method for its controller design includes the following steps:

[0132] 1) Given a reference signal r k

[0133] Reference signal r k is a polynomial of time variable k, and M represents the highest power of the polynomial; three specific reference signals are as follows:

[0134] Square wave signal, M=0:

[0135]

[0136] Triangular wave signal, M=1:

[0137]

[0138] S-curve, M=3:

[0139]

[0140] Among them, A is the amplitude, and N is the sampling frequency of the reference signal in one cycle;

[0141] 2) Construct ideal error dynamics

[0142] For the exponential no-switc...

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Abstract

The invention provides a non-switching attraction law design method of a digital controller using an interference differential suppression strategy. The method comprises the following steps: generating, by a given module, a reference signal; constructing a corresponding interference differential compensation feedback link according to a specific form of the given reference signal, wherein an output signal of the interference differential compensation feedback link is used for correcting the digital controller; constructing ideal error dynamics based on the non-switching attraction law, designing the digital controller according to the ideal error dynamics, and using a signal calculated by the current controller as the input of a servo object. The specific controller parameter setting can be performed according to an index that characterizes the convergence performance of the system, and a steady state error band, an absolute attraction layer and a monotone decreasing area, which characterize a tracking error convergence process, are provided. In turn, the anti-interference ability and the tracking accuracy of the system are improved, so that a servo system can change with the reference signal. The invention provides the non-switching attraction law design method of the digital controller, which can eliminate a system chattering phenomenon and has good control precision.

Description

technical field [0001] The invention relates to an exponential non-switching attraction law design method using an interference differential suppression strategy digital controller. The method is suitable for a position servo system and also 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 desig...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 孙明轩胡志云张钰李鹤
Owner ZHEJIANG UNIV OF TECH
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