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Equivalent disturbance compensation method for repeated control of power attraction of periodic servo system

An equivalent disturbance and servo system technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems that the controller cannot be realized, and achieve the effect of improving control performance and high-precision tracking

Active Publication Date: 2019-08-16
ZHEJIANG UNIV OF TECH
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Problems solved by technology

Therefore, the controller designed directly based on the law of attraction often cannot realize

Method used

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  • Equivalent disturbance compensation method for repeated control of power attraction of periodic servo system
  • Equivalent disturbance compensation method for repeated control of power attraction of periodic servo system
  • Equivalent disturbance compensation method for repeated control of power attraction of periodic servo system

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Embodiment Construction

[0161] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0162] refer to Figure 1-Figure 41 , an equivalent disturbance compensation method for power-attraction repetitive control of periodic servo systems, where, figure 1 is the block diagram of the motor device; figure 2 is the equivalent disturbance observer block diagram; image 3 is the power draw to repeat the controller block diagram.

[0163] The equivalent disturbance compensation method of power attraction repetitive control of the periodic servo system includes the following steps:

[0164] Step 1. Given a periodic reference signal, satisfy (1);

[0165] Step 2. Define the tracking error, the tracking error of the system is (2);

[0166] Step 3. construct the equivalent disturbance (4), and use (4) to express the system tracking error as (5);

[0167] Step 4. Design the observer and estimate the equivalent disturbance;

[0168]...

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Abstract

The invention discloses an equivalent disturbance compensation method for repeated control of power attraction of a periodic servo system. The method comprises the steps of generating a periodic reference signal by a given module, introducing a periodic feedforward link, defining an equivalent disturbance signal, and estimating equivalent disturbance by utilizing an observer; constructing an idealerror dynamic based on a 1 / 4 (or 3 / 4) power attraction law, dynamically designing a controller according to an ideal error, and using a calculated signal as a control input of the servo system; and carrying out specific controller parameter setting according to indexes for characterizing the convergence performance of the system, and giving a monotone decreasing area for characterizing a trackingerror convergence process, an absolute attraction layer, a steady-state error band boundary and a calculation formula of a maximum step number for a tracking error to enter a steady-state error bandfor the first time. According to the power attraction repeated controller with equivalent disturbance compensation, the equivalent disturbance is estimated, so that the tracking precision of the system can be improved, and the periodic disturbance can be completely inhibited.

Description

technical field [0001] The invention relates to a power attraction repetitive control method using equivalent disturbance compensation. The method is used for the repetitive control of a periodic servo system and is also applicable to industrial occasions of other periodic operation processes. Background technique [0002] When applying the internal model principle to design a controller, it is required that the mathematical model of the external input signal is included in the closed-loop system, that is, the input signal model is implanted into the controller to form a high-precision feedback control system. Repetitive control technology provides a controller design based on the principle of internal model, that is, the mathematical model in the internal model describes a periodic signal, and the closed-loop system can track the corresponding reference signal without error, so as to achieve the purpose of control. The implementation of the periodic internal model is that t...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 孙明轩王晗李旺邹胜祥
Owner ZHEJIANG UNIV OF TECH
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