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

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.

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 non-periodic disturbance, further improve the control performance, and enable the motor servo system to realize high-speed, high-precision tracking; the present invention expands the disturbance effect affecting the system output into a new variable, and constructs the disturbance observer. The disturbance observer does not need to directly measure the disturbance signal, nor does it need to know the specific model of the disturbance signal. The present invention specifically provides the steady-state error zone, the absolute attraction layer, the monotonically decreasing region, and the maximum number of steps required for the tracking error to enter the steady-state error zone for the first time. The specific expressions of the four indicators are used to guide the controller parameter tuning

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