Servo system non-switching attraction repetitive control method adopting equivalent disturbance compensation

Abstract

The invention discloses a servo system non-switching attraction repetitive control method adopting equivalent disturbance compensation. According to the method, a given module generates periodical reference signals, a periodical feedback link is created, equivalent disturbance compensation is introduced into a non-switching attraction law, and an observer is utilized to estimate equivalent disturbance; an ideal error dynamic state is established based on the non-switching attraction law, a controller is designed according to the ideal error dynamic state, and a signal obtained through calculation is used as control input of a servo system; and specific controller parameter setting can be performed according to system convergence performance representing indexes, and calculation formulas ofa monotone decreasing region, an absolute attraction layer, a steady-state error zone boundary and the maximum number of steps of a tracking error entering a steady-state error zone for the first time, all of which represent a tracking error convergence process, are given. According to the non-switching attraction repetitive controller with the equivalent disturbance compensation function, through estimation of equivalent disturbance, system tracking precision can be improved, and periodical disturbance can be completely suppressed.

Description

technical field [0001] The invention relates to a non-switching attraction repetitive control method based on equivalent disturbance compensation. The method is suitable for a periodic position servo system, and can also be used for other industrial occasions containing a periodic operation process. Background technique [0002] At present, the repetition control technology mainly uses the internal model principle as the core to carry out frequency domain design and analysis. The control signal is taken as the output of an internal system, and a feedback link is introduced into a stable closed-loop system; the generation device of the error signal is embedded in the forward channel of the internal system as a positive feedback signal. The signal generator in the internal model principle endows the repetitive controller with a "memory" function. The memory function is reflected in: through the model parameters of the system, the disturbance signal of the previous cycle is con...

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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 non-switching attraction repetition control method, the present invention provides a non-switching attraction repetition control method of the servo system using equivalent disturbance compensation, in order to make the closed-loop system have a pre- The expected error tracking performance is set, and the motor servo repetitive controller is designed according to the ideal error dynamic equation of the non-switching attraction structure. While the periodic disturbance component is completely suppressed, the disturbance is introduced into the closed-loop system considering the non-periodic component of the 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, constructs a disturbance observer, this disturbance observer There is no need to directly measure the disturbance signal, and it is not necessary to know the specific model of the disturbance signal. The present invention specifically provides four indicators: 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 can be used to guide the controller parameter tuning

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