1/2 Power Attractive Repeated Control Method with Equivalent Disturbance Compensation

A technology of equivalent disturbance and repetitive control, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems such as the inability to completely suppress the periodic disturbance and the inability to achieve high-precision tracking of the servo system.
CN110032073BActive Publication Date: 2022-05-03ZHEJIANG UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Patents(China)
Current Assignee / Owner
ZHEJIANG UNIV OF TECH
Publication Date
2022-05-03

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Abstract

A 1 / 2 power attraction repetitive control method with equivalent disturbance compensation. A given module generates a periodic reference signal, constructs a periodic feedforward link, introduces equivalent disturbance compensation into the 1 / 2 power attraction law, and uses The disturbance observer estimates the equivalent disturbance; constructs the ideal error dynamics based on the power attraction law, designs the controller according to the ideal error dynamics, and uses the calculated signal as the control input of the servo system; the specific controller parameter setting can be based on the characterization The system convergence performance indicators are carried out, and the calculation formulas of the monotonic decreasing region, the absolute attraction layer, the boundary of the steady-state error band and the maximum number of steps of the tracking error entering the steady-state error band for the first time are given. The 1 / 2 power attraction repetitive control method with equivalent disturbance compensation provided by the invention can improve the system tracking accuracy and completely suppress the periodic disturbance by estimating the equivalent disturbance.
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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...

Claims

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