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Specified time repetitive controller design method based on arc tangent attraction law

A technology that repeats the controller and specifies the time. It is applied in the direction of adaptive control, general control system, 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.

Pending Publication Date: 2020-12-18
ZHEJIANG UNIV OF TECH
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  • Application Information

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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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  • Specified time repetitive controller design method based on arc tangent attraction law
  • Specified time repetitive controller design method based on arc tangent attraction law
  • Specified time repetitive controller design method based on arc tangent attraction law

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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 , a design method for specified-time repetitive controllers based on the arctangent law of attraction, where, figure 1 is the block diagram of the servo motor control device; figure 2 is the equivalent disturbance observer block diagram; image 3 It is a structural schematic diagram of the specified time repetitive controller of the arctangent law of attraction.

[0113] A method for designing a time-determined repetitive controller using equivalent disturbance compensation applied to the arctangent law of attraction of a servo motor, comprising the following steps:

[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 con...

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Abstract

The invention discloses a specified time repetitive controller design method based on an arc tangent attraction law, and the method comprises the steps: enabling a given module to generate a periodicreference signal, and constructing a periodic feedback link; introducing equivalent disturbance compensation into a specified time arc tangent attraction law, and estimating equivalent disturbance through a disturbance observer; constructing an ideal error dynamic state (an attraction law with an interference suppression effect), designing a controller according to the ideal error dynamic state, and taking a signal obtained by current calculation 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. According to the specified time repetitive controller based on the arctangent attraction law, complete suppression of the periodic components of the interference signal can be realized, and the influence of the aperiodic components of the interference signal can be suppressed.

Description

technical field [0001] The invention relates to a design method of an arctangent law of attraction repetitive controller at a designated time, which can be used for repetitive tracking control of servo motors and is also suitable for 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 that perform 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 stores the control signal of the previous cycle, and corrects the control of the previous cycle from the error at this time 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 胡轶朱鹏升薛良曾詹亦钊孙明轩
Owner ZHEJIANG UNIV OF TECH
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