Power attraction repetitive control method using equivalent disturbance compensation servo system
An equivalent disturbance and servo system technology, applied in general control systems, adaptive control, control/regulation systems, etc., can solve problems such as low tracking accuracy and inability to suppress periodic disturbances
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[0180] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.
[0181] refer to Figure 1-Figure 39 , a power-attractive repetitive control method using an equivalent disturbance-compensated servo system. in, figure 1 is the block diagram of AC permanent magnet synchronous motor servo system; figure 2 Equivalent disturbance observer block diagram; image 3 is the power draw to repeat the controller block diagram.
[0182] A power attraction repetitive control method using an equivalent disturbance compensation servo system, comprising the following steps:
[0183] Step 1. Given a periodic reference signal, satisfy (1);
[0184] Step 2. Define the tracking error, the second-order difference model of the motor servo system is (2), and the tracking error of the system is (3);
[0185] Step 3. construct the equivalent disturbance (4), and use (4) to express the system tracking error as (5);
[0186] St...
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