A Power Attraction Repeated Control Method Using Equivalent Disturbance Compensation Servo System

Abstract

A power attraction repetitive control method using equivalent disturbance compensation servo system, a given module generates a periodic reference signal, constructs a periodic feedback link, introduces equivalent disturbance compensation into the power law of attraction, and uses an observer to measure the equivalent The disturbance is estimated; the ideal error dynamics is constructed based on the power law of attraction, and the controller is designed according to the ideal error dynamics, and the calculated signal is used as the control input of the servo system; the specific controller parameter tuning can be carried out according to the convergence performance index of the characterization system. And the calculation formulas of the monotonically decreasing region, the absolute attraction layer, the boundary of the steady-state error band and the maximum number of steps that the tracking error enters the steady-state error band for the first time are given to characterize the convergence process of the tracking error. The power attraction repetitive controller with equivalent disturbance compensation provided by the present invention can improve system tracking accuracy and completely suppress periodic disturbances by estimating equivalent disturbances.

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

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