Power attraction repetitive control method using equivalent disturbance compensation servo system

Abstract

A power attraction repetitive control method using an equivalent disturbance compensation servo system comprises the following steps of generating a periodic reference signal by a given module, constructing a periodic feedback link, introducing equivalent disturbance compensation in a power attraction law, and using an observer to estimate the equivalent disturbance; constructing ideal error dynamics based on the power attraction law, dynamically designing a controller according to the ideal error, and using the calculated signal as the control input of a servo system, wherein the specific controller parameter setting can be performed according to the convergence performance index of a characterization system, and a monotonous subtraction region, an absolute attraction layer and a steady-state error band boundary representing the tracking error convergence, as well as a calculation formula for the maximum number of steps for the tracking error entering the steady-state error band for the first time are given. The power attraction repetitive control method with equivalent disturbance compensation provided by the invention can improve the tracking accuracy of the system and completely suppress the periodic disturbance by estimating the equivalent disturbance.

Description

technical field [0001] The invention relates to a power attraction repetitive control method based on equivalent disturbance estimation. The method is suitable for a periodic position servo system, and can also be used for other industrial occasions with periodic operation processes. Background technique [0002] When designing the controller, the internal model principle requires the closed-loop system to include the input signal model, that is, the input signal model is implanted into the controller to form a feedback control function, so that the output of the closed-loop system can track the input reference signal without static error. Repetitive control provides a controller design method based on internal model principles, which have "memory" and "learning" characteristics, and the output error signal corrects the control input of the previous cycle. It completely suppresses periodic disturbances, enabling precise control. Repetitive control technology is applied in h...

AI Technical Summary

Problems solved by technology

[0006] In order to overcome the disadvantages of low system tracking accuracy and inability to suppress periodic disturbances in the existing power-attraction repetitive control method, the present invention provides a power-attraction repetitive control method using an equivalent disturbance compensation servo system, in order to make the closed-loop system have With the pre-set expected error tracking performance, 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 introduces Disturbance observer, in order to compensate for non-periodic disturbance, further improve control performance, make the motor servo system realize high-speed, high-precision tracking; the present invention expands the disturbance effect that affects the system output into a new variable, and constructs a disturbance observer. This disturbance observation The device 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 expression of each index can be used to guide the controller parameter tuning

Images