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Finite value power attraction repetitive controller design method

A technique for repeating controllers and design methods, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem that the controller cannot be realized

Pending Publication Date: 2020-12-11
ZHEJIANG UNIV OF TECH
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Problems solved by technology

Therefore, it is often impossible to design controllers directly based on the conventional law of attraction.

Method used

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  • Finite value power attraction repetitive controller design method
  • Finite value power attraction repetitive controller design method
  • Finite value power attraction repetitive controller design method

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Embodiment Construction

[0123] The specific embodiments of the present invention will be further described in conjunction with the accompanying drawings.

[0124] refer to Figure 1-Figure 3 , a finite value power attraction iterative controller design method, where, figure 1 is the block diagram of the servo motor drive control device; figure 2 is the equivalent disturbance observer block diagram; image 3 is the block diagram of a repeating controller of finite value power attraction.

[0125] A method for designing a finite value power attraction repetitive controller applied to a servo motor drive system using equivalent disturbance compensation, comprising the following steps:

[0126] Step 1. Set a reference signal whose periodicity satisfies (1);

[0127] Step 2. Define tracking error (2);

[0128] Step 3. Given continuous law of attraction (3);

[0129] Step 4. discretize the continuous law of attraction, and construct the discrete law of attraction (5);

[0130] Step 5. construct equ...

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Abstract

A finite value power attraction repetitive controller design method comprises the steps that a given module generates periodic reference signals, and a periodic feedback link is constructed; equivalent disturbance compensation is introduced into a finite value power attraction law, and equivalent disturbance is estimated through 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 served as input of a servo system; and specific controller parameter setting is carried out according to indexes representing system convergence performance, and a computational formula representing an attraction domain boundary, a monotone decreasing area, an absolute attraction layer, a steady-state error band and the maximum convergence step number in a tracking error convergence process is given. The finite value power attraction repetitive controller provided by the invention can completely inhibit periodic components of an interference signal and inhibit the influence of aperiodic components.

Description

technical field [0001] The invention relates to a design method of a finite value power attraction repetitive controller based on disturbance compensation, which can be used for the repetitive control of a servo motor drive system, and is also suitable for other industrial processes with periodical operation. Background technique [0002] In actual industrial situations, there are a large number of control systems that track periodic reference signals, such as servo motor drive systems that perform repetitive tasks. The repetitive controller has the characteristics of "memory" and "learning", which can realize the trajectory tracking of the periodic reference signal and effectively suppress the periodic disturbance. It stores the control signal of the previous cycle, and corrects the control of the previous cycle based on the current error to form the current input control. The mechanism of repetitive control is to use the model of the given signal as the internal model of ...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 胡轶薛良曾朱鹏升詹亦钊孙明轩
Owner ZHEJIANG UNIV OF TECH
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