1/2 power attraction repetitive control method with equivalent disturbance compensation

Abstract

The invention provides a 1/2 power attraction repetitive control method with equivalent disturbance compensation. A given module generates periodic reference signals, a period feedforward link is constructed, equivalent disturbance compensation is imported into a 1/2 power attraction law, and equivalent disturbance is estimated through utilization of a disturbance observer; an ideal error dynamicstate is constructed based on the power attraction law, a controller is designed according to the ideal error dynamic state, and a signal obtained through computing is taken as control input of a servo system; specific controller parameter setting can be carried out according to indexes which characterize system convergence performance, and computing formulae which characterize a monotone decreasing region, an absolute attraction layer, a steady state error band boundary and the maximum step number required when a tracking error enters a steady state error band for the first time, in a tracking error convergence process, are provided. According to the 1/2 power attraction repetitive control method with the equivalent disturbance compensation provided by the invention, through estimation ofthe equivalent disturbance, system tracking precision can be improved, and periodic disturbance can be suppressed completely.

Description

technical field [0001] The present invention designs a 1 / 2 power attraction repetitive control method with equivalent disturbance compensation, and the control method is used in a periodic position servo system, and is also applicable to other industrial occasions containing a periodic operation process. Background technique [0002] The essence of the internal model principle is to implant the dynamic model of the external signal of the system (that is, the internal model) into the control system, so as to form a high-precision feedback control system, so that the system can track the input signal without error. Repetitive control is a typical application of the internal model principle. Regardless of the specific form of the input signal, as long as the initial segment signal is given, the internal model will accumulate the input signal cycle by cycle and repeatedly output the same signal as the previous cycle. The repetitive controller designed based on the principle of i...

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Problems solved by technology

[0005] In order to solve the problem that the existing power attraction repetition controller cannot realize the high-precision tracking of the servo system and cannot completely suppress the periodic disturbance, the present invention proposes a 1/2 power attraction repetition control method with equivalent disturbance compensation, in order to make the closed loop The system has preset expected error tracking performance, and the motor servo repetitive controller is designed according to the ideal error dynamic equation constructed by power attraction. While realizing the complete suppression of periodic disturbance components, considering the existence of non-periodic components of disturbance, the closed-loop system The disturbance observer is introduced in order to compensate for the no

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