A discrete multi-period sliding mode repetitive control method for motor servo system

A servo system, repetitive control technology, applied in general control systems, adaptive control, control/regulation systems, etc., can solve the problems of long control time lag, poor dynamic quality, slow multi-period interference signals, etc., to reduce chattering , Fast tracking error convergence, the effect of reducing memory footprint

Active Publication Date: 2022-02-25
TAIZHOU UNIV
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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, 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 the arctangent 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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  • A discrete multi-period sliding mode repetitive control method for motor servo system
  • A discrete multi-period sliding mode repetitive control method for motor servo system
  • A discrete multi-period sliding mode repetitive control method for motor servo system

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Embodiment

[0137] 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-period sliding mode 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,...

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Abstract

The invention discloses a discrete multi-period sliding mode repetitive control method for a motor servo system. Given a reference signal with multiple symmetrical superpositions of different periods; construct a multi-period feedback link; due to the multi-period symmetry of the interference signal in the time domain, design a discrete multi-period sliding mode based on the arctangent power reaching law Repeated controller is a time-domain design method. The discrete multi-period sliding mode repetition controller designed in the time domain provided by the invention is a controller that converges quickly, can effectively improve tracking accuracy, reduce memory occupation, and eliminate multi-period interference signals.

Description

technical field [0001] The invention relates to repetitive control technology and sliding mode control technology, in particular to a discrete multi-period sliding mode repetitive control method for a motor 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 rea...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 邬玲伟梅盼林志明崔跃利陈光王三秀朱莺莺
Owner TAIZHOU UNIV
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