Servo system quick attraction repetitive control method adopting equivalent disturbance compensation

Abstract

A servo system quick attraction repetitive control method adopting equivalent disturbance compensation is characterized in that a continuous time quick attraction law is given, a quick attraction lawconvergence time is calculated, the quick attraction law is discretized, generation of periodic reference signals by a module is given, a periodic feedback element is constructed, the equivalent disturbance compensation is introduced into the quick attraction law, and equivalent disturbance is estimated through an observer; ideal error dynamics are constructed based on the quick attraction law, acontroller is designed according to the ideal error dynamics, and signals obtained through calculation are used as control inputs of a servo system; and controller parameter setting is carried out according to indicators representing the system convergence performance, and calculation formulas for a monotonic decreasing region, an absolute attraction layer, a steady-state error band boundary and the maximum number of steps for the initial entry of tracking errors into a steady-state error band, which represent a tracking error convergence process, are given. The quick attraction repetitive controller with the equivalent disturbance compensation provided by the invention has the advantages that through equivalent disturbance estimation, the system tracking precision can be improved, and periodic disturbances can be completely inhibited.

Description

technical field [0001] The invention relates to a fast attraction repetitive control method based on equivalent disturbance estimation. The method is suitable for a periodic position servo system, and can also be used in other industrial occasions containing a periodic operation process. Background technique [0002] The core of repetitive control is the internal model principle, that is, a closed-loop loop is embedded in a stable control system to construct a positive feedback link as a periodic signal generator. The internal model principle uses a periodic signal generator to extract the previous periodic signal at the current moment and replace the signal value at the current moment to eliminate the impact of periodic disturbances. This is an effective strategy for suppressing periodic disturbances. In large-scale industrial production, machines and equipment often require repetitive and periodic tasks, so repetitive control is widely used in automotive welding robots, co...

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Problems solved by technology

[0005] In order to overcome the disadvantages of low system tracking accuracy and inability to suppress periodic disturbances in the existing rapid attraction and repetition control method, the present invention provides a servo system rapid attraction and repetition control method using equivalent disturbance compensation, in order to make the closed-loop system have a preset The expected error tracking performance of the motor is designed according to the ideal error dynamic equation of the fast attraction structure. While realizing the complete suppression of the periodic disturbance component, a disturbance observer is introduced in the closed-loop system considering the non-periodic component of the disturbance. In order to compensate for non-periodic disturbances, further improve control performance, and enable the motor servo system to achieve high-speed, high-precision tracking; the present invention expands the disturbance effect that affects the system output into a new variable, and constructs a disturbance observer, which does not need to directly To measure the disturbance signal, there is no need to know the specific model of the disturbance signal. The present invention specifically provides the specific specifications of the four indicators of 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. Expressions that can be used to guide controller parameter tuning

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