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Equivalent Disturbance Compensation Method for Power Attraction Repeated Control of Periodic Servo System

An equivalent disturbance and servo system technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem that the controller cannot be realized

Active Publication Date: 2022-05-03
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 Power Attraction Repeated Control of Periodic Servo System
  • Equivalent Disturbance Compensation Method for Power Attraction Repeated Control of Periodic Servo System
  • Equivalent Disturbance Compensation Method for Power Attraction Repeated Control 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

An equivalent disturbance compensation method for power attraction repetitive control of a periodic servo system, including generating a periodic reference signal by a given module, introducing a periodic feedforward link, defining an equivalent disturbance signal, and using an observer to estimate the equivalent disturbance; Based on the 1 / 4 (or 3 / 4) power law of attraction, the ideal error dynamics are constructed, 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 based on the characterization system The convergence performance index is carried out, 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 of the tracking error entering the steady-state error band for the first time are given to characterize the tracking error convergence process. 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 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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Patent Type & Authority Patents(China)
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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