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
CN110134014BActive Publication Date: 2022-05-03ZHEJIANG UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Patents(China)
Current Assignee / Owner
ZHEJIANG UNIV OF TECH
Publication Date
2022-05-03

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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.
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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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