Discrete multi-cycle repeat controller for periodic servo system

Abstract

The invention discloses a discrete multi-cycle repeat controller for a periodic servo system. According to a time domain design method, a reference signal with multiple different periods that is symmetrically overlaid is offered, a multi-period feedback link is built, and a discrete multi-cycle repeat controller based on a law of attraction is designed based on multi-period symmetry of an interference signal on time domain. Specific controller parameter organization work is performed according to each amplitude of a multi-period interference / reference signal and indexes of a characterization tracking error convergence process, and calculation methods for a power monotonic reduction region, a power-absolute attraction layer and a steady state error band boundary of the characterization tracking error convergence process are provided. The discrete multi-cycle repeat controller based on time domain design converges rapidly, has high tracing accuracy, reduces used memory, eliminates multi-period interference signals, and effectively suppresses non-period 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. Existing repetitive control techniques mainly focus on frequency-domain 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 for this periodic signal. or interference suppression. This control technology has been wi...

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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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