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Design method of digital repetitive controller for attraction of servo motor at specified time

A technology that repeats the controller and specifies the time. It is applied in the direction of general control system, adaptive control, control/regulation system, etc. It can solve the problems that the dynamic characteristics of the system error are not considered, and the controller cannot be realized.

Active Publication Date: 2020-10-09
ZHEJIANG UNIV OF TECH
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Problems solved by technology

The law of attraction reflects the expected dynamic characteristics of the system error when disturbances are not considered; in the presence of disturbances, the controller directly based on the law of attraction cannot achieve

Method used

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  • Design method of digital repetitive controller for attraction of servo motor at specified time
  • Design method of digital repetitive controller for attraction of servo motor at specified time
  • Design method of digital repetitive controller for attraction of servo motor at specified time

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Embodiment Construction

[0111] The specific embodiments of the present invention will be further described in conjunction with the accompanying drawings.

[0112] refer to Figure 1-Figure 31 , an iterative controller design method for a specified time-attraction law of a servo motor, where, figure 1 is the block diagram of the servo motor control device; figure 2 is the equivalent disturbance observer block diagram; image 3 is a schematic diagram of the structure of a repetitive controller specifying the time law of attraction.

[0113] A method for designing iterative controllers using equivalent disturbance compensation applied to a specified time law of attraction for a servo motor comprising the steps of:

[0114] Step 1. Set a reference signal whose periodicity satisfies (1);

[0115] Step 2. Define tracking error (2);

[0116] Step 3. Given continuous law of attraction (3);

[0117] Step 4. discretize the continuous law of attraction, and construct the discrete law of attraction (6); ...

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Abstract

The invention relates to a design method of a digital repetitive controller for attraction of a servo motor at a specified time. The design method comprises the following steps that: a given module generates a periodic reference signal and constructs a periodic feedback link; equivalent disturbance compensation is introduced into a specified time attraction law, and equivalent disturbance is estimated by using a disturbance observer; an ideal error dynamic state (an attraction law with an interference suppression effect) is constructed, a controller is designed according to the ideal error dynamic state, and a signal obtained by current calculation is taken as the input of a servo system; specific controller parameter setting is carried out according to indexes representing system convergence performance, and a computational formula representing an attraction domain, a monotone decreasing area, an absolute attraction layer, a steady-state error band and the maximum convergence step number in the tracking error convergence process is given. The specified time attraction repetitive controller provided by the invention can completely inhibit periodic components of interference signals and inhibit the influence of aperiodic components of the interference signals.

Description

technical field [0001] The invention relates to a design method of a repeating controller attracting at a specified time, which can be used for the repeating tracking control of a servo motor, and is also applicable to other industrial processes with periodical operation. Background technique [0002] In industrial occasions, there are a large number of control systems that track periodic reference signals, such as servo motors performing reciprocating operations, hard disk drive servo systems, and sinusoidal alternating power electronic systems. The current repetitive control technology mainly focuses on the frequency domain analysis and design method based on the internal model principle. This method implants the dynamic model of the external acting signal into the controller to form a high-precision feedback control system. The internal model principle states that any feedback control system that can offset external disturbances or track reference input signals must conta...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 孙明轩朱鹏升薛良曾邹胜祥李威李杏
Owner ZHEJIANG UNIV OF TECH
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