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

An equivalent disturbance and servo system technology, applied in general control systems, adaptive control, control/regulation systems, etc., can solve the problems of unable to suppress periodic disturbances and low tracking accuracy
CN110658719AInactive Publication Date: 2020-01-07ZHEJIANG UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
ZHEJIANG UNIV OF TECH
Publication Date
2020-01-07
Estimated Expiration
Not applicable Β· inactive patent

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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.
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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...

Claims

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