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Customized harmonic repetitive controller and control method

A repetitive controller and repetitive control technology, applied in the direction of controllers with specific characteristics, electric controllers, adaptive control, etc., can solve the problems of improving the performance of the controller and the inability to construct high-order repetitive controllers, etc., to achieve flexible improvement sexual effect

Pending Publication Date: 2020-05-12
JIANGNAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0009] In order to solve the problem that the existing (nk±m) sub-harmonic repetitive controller cannot construct a high-order repetitive controller when facing the problem of internal model mismatch to improve the performance of the controller, the present invention provides a customized harmonic Repeat controller and control method

Method used

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  • Customized harmonic repetitive controller and control method
  • Customized harmonic repetitive controller and control method
  • Customized harmonic repetitive controller and control method

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Embodiment 1

[0089] This embodiment provides a repetitive controller, which includes: a repetitive control gain module, a positive feedforward gain module, a subtraction loop, two addition loops, and three identical time delay modules;

[0090] Wherein, the input terminal of the repetitive control gain module is used as the input terminal of the repetitive controller, the output terminal of the repetitive control gain module is used as the first input terminal of the first adding loop, and the output terminal of the first adding loop is used as the input terminal of the second adding loop. The first input terminal, the output terminal of the second addition loop are respectively connected in series with the positive feedforward gain module and the first time delay module, followed by the positive input terminal and negative input terminal of the subtraction loop, and the output terminal of the subtraction loop is connected in series with the second time delay The module is connected to the ...

Embodiment 2

[0153] The (nk±m) harmonic repetition controller given in the first embodiment above and the further extended h-order (nk±m) harmonic digital repetition controller can be added to the general In the feedback control system, it is used to eliminate the (nk±m) harmonic component in the control error. The (nk±m) order harmonic repetition controller and the h order (nk±m) order harmonic digital repetition controller obtained by further expansion are introduced as follows:

[0154] (1) For (nk±m) harmonic repetition controller

specific Embodiment approach

[0156] Figure 17 Shown is the structural block diagram of adding the improved (nk±m) harmonic digital repetition controller to the general feedback control system, where G rc (z) is an improved (nk±m) harmonic digital repetition controller, G c (z) is a conventional feedback controller, G p (z) is the control object, y d (z) is the reference input of the system and is generally the fundamental wave reference signal y(z) is the actual output of the system, e(z) is the error between the reference and the actual signal and is also the repeating controller G rc (z) is the input signal, c(z) is the repetitive controller G rc The output signal of (z) is also added together with the error signal e(z) as a conventional feedback controller G c (z) input, u(z) is the conventional feedback controller G c The output signal of (z) is also the control object G p The input signal of (z), d(z) is the disturbance input signal of the system, which is related to the control object G p Th...

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Abstract

The invention discloses a customized harmonic repetitive controller and a control method, which belong to the field of repetitive controllers for industrial control. According to the repetitive controller, a periodic signal generator formed by three time delay modules and a positive feedforward gain module is used as a whole to form a forward path; the internal model of the periodic signal is constructed in an output positive feedback form, so that the structure meets the standard internal model construction method. The capability of order expansion is achieved, the flexibility of the controller is greatly improved, the disturbance elimination speed of the controller is improved, the structure is simple, and the design is convenient. The further expanded h-order (nk + / - m) harmonic repetitive controller (h is greater than or equal to 2) covers a plurality of existing high-order repetitive controllers, and a unified form is provided, so that the controller has universality.

Description

technical field [0001] The invention relates to a customized harmonic repetition controller and a control method, belonging to the field of industrial control repetition controllers. Background technique [0002] Repetitive control is proposed to achieve high-precision tracking of periodic signals. In many industrial application scenarios, it is necessary to achieve high-precision tracking of periodic signals. It is through various forms of electric energy transformation to obtain the electric energy required by the respective production occasions. The inverter equipment used in this electric energy transformation process will be disturbed by external signals, so it is necessary to adopt advanced control methods to achieve high Precision control, and repeat control can achieve this goal. [0003] Repetitive control, simply put, is that the input signal added to the controlled object is superimposed with a "past control deviation" in addition to the deviation signal, which i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04H02M1/00
CPCG05B13/042H02M1/00G05B11/36Y02E40/40G05B13/045
Inventor 卢闻州王尉陈海英
Owner JIANGNAN UNIV
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