189 results about "Integral controller" patented technology

Systems and methods for autonomous-vehicle navigation using a large vision language model (LVLM) to understand road situations and construct a guide for the autonomous vehicle's planning system and Model Predictive Path Integral (MPPI) controller. The LVLM analyzes image data from driving scenarios and generates driving suggestions. The LVLM is pre-trained on a dataset of image-pairs and fine-tuned with specific driving scenarios to optimize performance.

A half-bridge driver circuit periodically repeats switching cycles by closing a first FET via a first drive signal, detecting an instant when a current flowing through the first FET reaches a threshold and then opening the first FET and closing a second FET via a second drive signal. An error amplifier generates a control voltage by comparing a feedback signal with a reference signal, and a variable current generator generates a first current as a function of the control voltage. The error amplifier includes a proportional-integral controller, and a slope compensation circuit that generates a second current as a ramp signal. The threshold is generated by subtracting the second current from the first current. In response to detecting the instant, the second current is sampled and a signal indicative of the threshold is generated by subtracting the sampled second current from the first current.

The invention relates to a mobile robot control method and system based on fault prediction, and the system comprises a multi-mode inverse kinematics solver which dynamically selects a solving mode according to the condition number of a Jacobian matrix, and carries out the solving of the Jacobian matrix according to the condition number from small to large; respectively selecting a transpose matrix method, a damping least square method and constrained quadratic programming to calculate the joint angle adjustment amount to adapt to bad working conditions such as singular configuration; the self-adaptive integral controller is used for independently adjusting position / attitude ring gain through a decoupling gain matrix, dynamically inhibiting vibration and reducing steady-state errors in combination with errors and fault indexes; and the fault prediction and reconstruction subsystem calculates a joint fault index in real time, and the index integrates torque deviation, temperature, harmonic distortion, vibration and wear data and implements hierarchical response. According to the system, the singular region stability is remarkably improved, the decoupling performance and the fault response speed are controlled, and the secondary fault risk is reduced.

The invention discloses an online iterative learning control method and device based on bidirectional frequency binary search, and belongs to the technical field of tracking control, and the method comprises the steps: building a piezoelectric positioning system, and enabling the piezoelectric positioning system to have a certain low-frequency disturbance suppression capability while keeping stable through adjusting the parameters of a proportional-integral controller; constructing a control structure combining a YK parameterization method and iterative learning control; constructing a robust filter in iterative learning control by adopting a filter design method of a parallel cascade composite structure; a differential parameter constraint space is set for each filter based on a bidirectional frequency binary search method, and iterative updating of filter parameters is driven in a time domain by taking norm minimization of system errors as an optimization target, so that continuous optimization of online disturbance suppression performance is realized. According to the method, YK parameterization and an iterative learning control structure are combined, and the stability of the piezoelectric positioning system in the whole frequency domain can be ensured.

The invention relates to the technical field of automatic control, and discloses a flood season water quality monitoring method and system based on a variable speed integral PID controller. The method comprises the following steps: acquiring and fusing pollutant concentration data and water level fluctuation parameters in a flood season water body through a sensor network to obtain a current water quality state index; according to the current water quality state index, time sequence change data of pollutant concentration is extracted, concentration gradient information is calculated, freshness analysis is carried out on the concentration gradient information, and weighted gradient information is generated; fusing the weighted gradient information with historical water quality monitoring data, determining a comprehensive gradient trend, and obtaining a preliminary update value of a variable speed control coefficient through a variable speed integral PID control algorithm according to the comprehensive gradient trend; if the preliminary update value exceeds a preset range, an iterative optimization algorithm is adopted to obtain a refined variable speed control coefficient, operation parameters of water quality control equipment are adjusted, and a dynamic regulation and control result of the water quality in the flood season is output, and the control accuracy of the concentration of pollutants in the water quality is improved.

The invention discloses an integral adaptive admittance control method and system, a computing control device and a storage medium. The method comprises the steps that 1, a target admittance model is established and initialized; step 2, establishing an adaptive admittance controller according to an adaptive control strategy based on environmental information identification, and deriving a reference trajectory corresponding to the target admittance model; step 3, establishing an integral admittance controller, performing steady-state error optimization processing on the reference trajectory, and generating an optimized reference trajectory; and step 4, generating a robot motion instruction according to the optimized reference trajectory. According to the method, firstly, an integral controller and online environment parameter identification are deeply fused, steady-state errors are eliminated through integral terms, dynamic environment changes are compensated through parameter identification, and stability collaborative optimization is carried out. And secondly, a reference trajectory is dynamically adjusted by introducing a force error integration link, so that the stability contradiction between integration control and an adaptive law is solved, and the unification of high-frequency response and lightweight control is realized.

The invention discloses an order-lifting sliding mode robust control method for an active-passive vibration isolation system, and belongs to the technical field of vibration isolation system control, and the method comprises the steps: introducing a feed-forward control path, predicting the vibration frequency and amplitude at a future moment based on the historical state information of a controlled system, building an overall vibration isolation target model based on the prediction, and carrying out the control of the overall vibration isolation target model. Resolving a target transfer function of an active execution mechanism through kinetic analysis of the active-passive vibration isolation system, so as to calculate a feedforward control signal; the method comprises the following steps: modeling an active-passive vibration isolation system, constructing a nonsingular terminal sliding mode surface, collecting system state error information, and generating a feedback control signal of an actual controlled system through integral controller design; a feedforward control signal and a feedback control signal are reasonably coupled and superposed to serve as control input of a controlled system. According to the order-lifting sliding mode robust control method for the active-passive vibration isolation system provided by the invention, the anti-interference capability and the stability of the active-passive vibration isolation system are improved.

A grid-forming photovoltaic (PV) system and method for both islanded connection and grid-connected mode is provided. An inverter converts PV array voltage to a voltage usable as a power source to an electric power system load. Active power-frequency droop controller regulates a modulator that generates drive signals to drive the inverter. Proportional integral controller generates a frequency shift value that adjusts output of the active power-frequency droop controller to yield a phase angle control for modulation of the inverter drive signals. A control mode switch selects among a plurality of control modes for operation of the proportional integral controller. A model-free control algorithm controls the control mode switch, including a control mode (221b) for synchronizing the PV system with the grid in which proportional integral controller (a) detects offset between inverter output voltage and grid output voltage and (b) generates the frequency shift value.

The invention discloses an anti-frequency interference V2G converter low harmonic combination control method, the V2G converter is a voltage type PWM rectifier, and the method is characterized in that a voltage outer loop controller in the control method adopts a proportional integral controller, a moving average filter is directly connected in series to the output of the voltage outer loop controller; interference of periodic signals in the direct current bus voltage on the current reference signals is suppressed, so that the amplitude of the current reference signals is pure direct current quantity; in the current loop controller, a repetitive controller is used as a feedforward controller and is combined with a weighted average deadbeat controller, an insertion type composite controller is constructed, coefficients are rapidly updated by adopting a Lagrange interpolation method, and a delay value is continuously controlled, so that the repetitive controller and a moving average filter have frequency self-adaptive characteristics; the problem of performance degradation of a traditional fixed frequency controller during frequency fluctuation is solved, and the anti-frequency interference characteristic of the converter is enhanced.

A distributed control system coupled to a hybrid renewable power system including an AC power section, a DC power section, and a primary load. The distributed control system includes current-controlled inverter to control flow of power between the DC power section and the AC power section using a pair of power flow control signals. The current-controlled inverter includes a proportional-integral controller to generate the pair of power flow control signals. The distributed control system includes a discrete frequency controller to perform a load frequency control of the hybrid renewable power system using a pair of load frequency control signals. The load frequency control controls frequency oscillations of the primary load. The discrete frequency controller is a discrete-time fuzzy tuned fractional-order proportional derivative controller that generates pair of load frequency control signals based on primary load frequency, desired load frequency, and rate of change of the primary load frequency.

The invention discloses a natural fault-tolerant control method for multivariable combined diagnosis of a symmetric six-phase permanent magnet synchronous motor, and the method comprises the steps: firstly, calculating an electrical angle and a mechanical rotating speed according to a motor encoder signal; secondly, obtaining a d-q plane torque current reference value through rotating speed closed-loop control; thirdly, six-phase current of the motor is collected, and the actual current value of the decoupling sub-plane is calculated; then, a d-q plane voltage reference value is obtained through a proportional-integral regulator; then, x-y plane voltage and a-b plane current are collected in real time, and an output result of the fault diagnosis module is obtained; then, x-y plane voltage reference values in different modes are selected according to output results of the fault diagnosis module; then, a six-phase voltage reference value is obtained through inverse decoupling transformation; and finally, obtaining a driving signal of a six-phase inverter according to comparison between the modulated wave and a set carrier wave, and realizing the natural fault-tolerant control method for the symmetric six-phase permanent magnet synchronous motor without current reconstruction.

The invention discloses a current source inverter power supply permanent magnet synchronous motor system control method and system, and belongs to the field of permanent magnet synchronous motor control. Establishing a discrete state space equation of the dq-axis current source inverter power supply type permanent magnet synchronous motor system by using state variable information of a control system of the permanent magnet synchronous motor system at a sampling k moment; designing a filter capacitor voltage estimator, obtaining a filter capacitor voltage estimated value, designing a feedback-integral controller, and solving a dq-axis inverter output current control instruction; three optimal current vectors closest to an inverter output current control instruction are selected, the optimal current vectors and the optimal duty ratio are calculated, an optimal switching pulse sequence is output to act on a switching tube of the current source inverter, and current control over the current source inverter power supply permanent magnet synchronous motor system is achieved. The method is high in control precision and high in dynamic response speed.

The invention discloses an island micro-grid control method and system based on adaptive virtual impedance droop control. The island micro-grid control method comprises the steps that active power and reactive power output by an inverter are measured in real time; inputting the active power and the reactive power into an improved droop controller, and generating a frequency reference value and a voltage amplitude reference value; calculating a difference value between the reactive power and a reference value, and dynamically adjusting the size of virtual impedance through an integral controller; adding the voltage amplitude reference value and the voltage compensation amount to obtain a voltage amplitude instruction, and adding the frequency reference value and the frequency compensation amount to obtain a frequency instruction; performing voltage synthesis by using the voltage amplitude instruction and the frequency instruction to generate a voltage reference value under a dq coordinate system, taking the voltage reference value as reference input of a double closed-loop control system, driving an inverter bridge after SPWM modulation, and regulating and controlling the output voltage; the system stability and reliability can be improved, reactive power loss and circulation can be reduced, the electric energy quality can be improved, and the load change coping capacity of the micro-grid can be enhanced.

The invention discloses a method and a device for improving dynamic characteristics of a two-stage resonant converter based on a virtual resistor, and in the converter, a front-stage Buck converter and a rear-stage LLC resonant converter are connected through a common DC bus; the dynamic characteristic improvement method comprises the following steps: inputting bus capacitor voltage on a common direct current bus into an active damping inner ring controller, and simulating a virtual resistor accessed to a converter through output; the difference value between the output voltage of the resonant converter and the reference voltage is input into a voltage outer loop proportional-integral controller; and subtracting the output signals of the active damping controller and the voltage outer loop controller to obtain an improved duty ratio of the preceding-stage Buck converter for controlling a switching device. By adopting the above technical scheme, through a control mode of combining voltage outer loop control and active damping inner loop control, the double-resonance peak in the voltage loop is suppressed, and the bandwidth of the voltage loop is effectively expanded.

Methods and systems are disclosed for controlling device movement based on a movement command. Issues on accurately controlling movement of a device such as a programmable robot and rover are addressed by first determining a command type of the movement command, followed by determining specific types of controllers for a high-level controller and a low-level controller based on the determined command type. When the command type is a linear movement, a Proportional-Integral-Derivative (PID) controller is used at the high-level controller and a Proportional / Proportional-Integral (PPI) controller is used at the low-level controller to accurately control a target distance. When the command type is an angular movement, the PPI controller is used at the high-level controller and the PID controller is used at the low-level controller to accurate control the end-heading of the device.

The invention discloses a method for optimizing steering idle speed control of an oil pump motor of a counterbalance forklift truck, relates to the technical field of motor control, and solves the problems that the rotating speed of a motor is obviously lower than a set idle speed and steering is delayed or shaken due to sudden load increase of a hydraulic system at the moment of steering. The steering idle speed control optimization method comprises the steps that the steering feedback idle speed and the steering oil pressure are collected, the steering idle speed falling difference value is calculated according to the preset steering idle speed, and a load dynamic model is established; judging the duration time of the steering idle speed drop difference value, and obtaining the control torque of an oil pump motor by utilizing a composite proportional-integral controller in combination with the steering oil pressure; a torque conversion coefficient is calculated through a third-order nonlinear observer and a temperature compensation coefficient according to steering oil pressure collected by a hydraulic sensor, and then offset torque is obtained; and the control torque and the offset torque of the oil pump motor are calculated according to an idling dynamic weight distribution strategy and then input into the heavy forklift to control the oil pump motor to complete steering idling optimization.

The invention discloses a novel permanent magnet synchronous motor sensorless compound control strategy, and relates to the field of motor control. The method comprises the following steps: replacing a traditional proportional-integral controller with a nonsingular terminal sliding mode controller in a speed outer ring design, using an integral sliding mode surface, omitting an integral link of a q-axis given current, and replacing a sign function with a sigmoid function to improve the dynamic performance and robustness of a system; a high-frequency square wave injection method is adopted to carry out low-speed-domain position-sensorless control, in a middle-high-speed domain, aiming at the system buffeting problem caused by a traditional sliding mode observer, super-spiral sliding mode observation is adopted to carry out rotation angle observation, and meanwhile, an orthogonal phase-locked loop is adopted to eliminate the influence of large numerical value difference possibly occurring due to angle errors. The invention provides a novel permanent magnet synchronous motor sensorless compound control strategy, namely an angle-speed time-sharing weighted hysteresis switching strategy, aiming at the problem that the stability of a transition area is affected due to the fact that the traditional weighted switching in compound control possibly causes large deviation of the relation between the rotating speed and the rotor position. The non-singular sliding mode speed controller, the high-frequency square wave injection method, the improved super-spiral sliding mode observer method and the angle-speed time-sharing weighted hysteresis switching strategy are applied to the full-speed-domain sensorless control system, and the high-performance surface-mounted permanent magnet synchronous motor sensorless control system is achieved.

A method is for adaptively controlling a charging module that converts three-phase AC input to DC output with improved power factor correction. The method includes performing Clarke and Park transforms on input three-phase AC voltages to obtain d-q axis components, measuring and transforming boost inductor currents to obtain current axis components, generating control values through current-loop and voltage-loop modules based on target and measured values, and synthesizing PWM signals to control switching operations. The method features adaptive phase angle computation using a proportional-integral controller that responds to load variations in real-time. The control system maintains high power factor under varying load conditions by continuously adjusting the phase reference based on the q-axis voltage error. This approach minimizes power losses, reduces harmonic distortion, and ensures stable operation across the full operating range of the charging module while maintaining unity power factor.

The invention discloses a control method of a virtual synchronous generator based on zero-pole assignment, equipment, a medium and a product, and relates to the technical field of new energy grid-connected converter control. Parameters of a proportional-integral controller, a feed-forward coefficient of an active power difference and a feed-forward coefficient of an active power set value difference are set; the zero point of the first active power transfer function is equal to the second pole of the active loop, and the zero point of the second active power transfer function is equal to the second pole of the active loop, so that the zero points are offset, and the first active power transfer function and the second active power transfer function are reduced into a first-order system, so that the parameter design is simpler; meanwhile, an active ring pole is determined through active customization adjustment time, then proportional-integral controller parameters are determined, a reactive ring integral coefficient is determined through reactive customization adjustment time, and therefore time can be customized flexibly.

The embodiment of the invention discloses a control method and device of a wireless power transmission system, equipment and a storage medium, the wireless power transmission system at least comprises a transmitting end and a receiving end which are in communication connection, and the method is applied to the receiving end. The method comprises the steps of obtaining an output voltage of a receiving end, an output voltage reference value and an estimated value of a first pulse density instruction of a transmitting end, wherein the output voltage is used for reflecting voltages at two ends of a to-be-powered load; determining an internal control quantity by using the output voltage, the output voltage reference value and a preset proportional-integral controller; determining a second pulse density instruction of the receiving end according to the estimated value and the internal control quantity; and sending the second pulse density instruction to the transmitting end. The power efficiency decoupling control method is realized through the method, the pulse density of the transmitting end can follow the receiving end, the interference of maximum efficiency tracking on voltage control is avoided, and the speed of the MEPT is improved.

The invention discloses a multi-terminal flexible direct current system coordination control method and device, a multi-terminal flexible direct current system comprises a plurality of flexible interconnection devices, each flexible interconnection device is provided with an interconnection agent, and the adjacent flexible interconnection devices establish communication through the interconnection agents. The method comprises the following steps: outputting a current optimal droop coefficient and adjusting the direct current side output current of the current flexible interconnection equipment based on a droop coefficient optimization model pre-constructed in the current flexible interconnection equipment in combination with the direct current side output current, the direct current side output voltage and the alternating current side output power of the current flexible interconnection equipment, obtaining a direct current side output voltage reference value of the current flexible interconnection equipment by combining a direct current side rated voltage value of the current flexible interconnection equipment; through the proportional-integral controller, a power control instruction is output, coordination control over the current flexible interconnection equipment is completed, the influence of voltage deviation and uneven current shunting is reduced, more accurate voltage control and power distribution are achieved, and the overall performance of the system is improved.

This invention belongs to the field of linear motor current disturbance suppression, specifically relating to a method and system for suppressing switching current disturbances in a segmented power supply long stator linear motor. It aims to solve the problems of long switching times and large current fluctuations in existing linear motors. The invention includes: real-time tracking and acquisition of the mover position 's' of the segmented power supply long stator linear motor, and calculation of an adjustment factor 'δ' based on the current mover position 's'; applying the adjustment factor 'δ' to the proportional controller, integral controller, and feedforward controller of the segmented power supply long stator linear motor to suppress disturbances during thyristor switching, thereby achieving current disturbance suppression during the segmented power supply long stator linear motor switching process. This invention can effectively suppress the cumulative amplification of disturbance errors during the switching process of the segmented power supply long stator linear motor, achieving a rapid decrease in current and a low overshoot with a rapid increase during the switching process.

The present invention relates to a mobile robot control method and system based on fault prediction. The system includes: a multimodal inverse kinematics solver that dynamically selects a solution mode based on the Jacobian matrix condition number. The system selects, from smallest to largest condition number, the transposed matrix method, damped least squares method, and constrained quadratic programming to calculate joint angle adjustments, adapting to adverse working conditions such as singular configurations; an adaptive integral controller that independently adjusts the position / attitude loop gain via a decoupling gain matrix, dynamically suppresses vibration and reduces steady-state error by combining error and fault index; and a fault prediction and reconstruction subsystem that calculates the joint fault index in real time. This index integrates torque deviation, temperature, harmonic distortion, vibration, and wear data, and implements a graded response. The system significantly improves singularity stability, control decoupling, and fault response speed, reducing the risk of secondary faults.

This invention relates to a high-precision, fast-response thickness control method for a hot strip rolling mill. The hot strip rolling mill includes N sets of roll mechanisms, a reduction system, a frequency conversion system, and a thickness control system. The thickness value of the strip after being rolled by the roll mechanisms is input to the thickness control system. The high-precision, fast-response thickness control method for the hot strip rolling mill includes the following steps performed by the thickness control system: receiving the thickness deviation through a feedforward predictive control regulator F, and calculating the intermediate value K. G And based on the intermediate quantity K G The thickness feedforward estimated adjustment amount is calculated and output. The thickness deviation is received by the thickness feedback proportional-integral controller M. The calculated thickness feedback proportional-integral adjustment amount is then output. The thickness feedforward estimated adjustment amount and the thickness feedback proportional-integral adjustment amount are superimposed by an overlay device to obtain the roll gap adjustment amount ΔG, which is input into the roll adjustment mechanism of the pressing system. This effectively solves the problem of thickness step fluctuation in strip steel caused by uncontrollable factors.

An anti-interference control method for a permanent magnet synchronous motor driving system with output containing measurement noise comprises the following steps: when the permanent magnet synchronous motor driving system is disturbed and current is used as system output to have measurement noise, noise and disturbance suppression is realized through output filtering, an improved equivalent input interference method and control law optimization; the method specifically comprises the following steps: step 1, establishing a permanent magnet synchronous motor driving system state space model considering system state disturbance and output measurement noise; 2, introducing an output filtering strategy, transferring noisy output to a state equation, and combining a filter state and an original system state to form an extension system; 3, a traditional equivalent input interference method is improved, a parameter variable sliding mode observer is constructed to replace a state observer, and the equivalent input interference method is integrated to reduce observation errors; 4, designing a proportional-integral controller, and enabling the expansion system to output tracking reference current; and 5, constructing a Lyapunov function to perform stability analysis, and ensuring that all signals of the closed-loop system are consistent and finally bounded. According to the anti-interference control method for the permanent magnet synchronous motor driving system with the output containing the measurement noise, disturbance and noise are effectively suppressed, and the stability and the control precision of the permanent magnet synchronous motor driving system are improved.

The invention discloses a model-free self-adaptive thrust keeping combined control method for a self-adaptive cycle engine, which comprises the following steps of: establishing a full-format data strategy on line by utilizing a dynamic linearization method, and providing an improved multivariable model-free self-adaptive combined controller in combination with a proportional-integral controller and an iterative learning control algorithm; constructing a thrust estimator by adopting a stacked self-encoding neural network model, designing an engine instruction management module based on a linear programming algorithm, and designing a limit protection strategy based on instruction adjustment while correcting an instruction according to an engine state; and finally, designing a double-loop multivariable model-free adaptive thrust maintaining combined control system based on a model-free adaptive combined controller and a linear programming instruction management module. According to the method, the problem that aero-engine control excessively depends on an accurate mathematical model can be solved, and when a self-adaptive cycle engine gas circuit component declines, a control system ensures that the key variable of the engine is maintained within a reasonable range while keeping thrust.

This invention belongs to the fields of AC / DC microgrid "interface converters", energy storage systems and new energy power generation, and active reactive power compensation, and particularly relates to a discrete indirect power control method and device for grid-connected inverters. The control method in this invention is implemented in the αβ stationary coordinate system, eliminating the need for synchronous rotational coordinate transformation calculations. In this invention, the reference value of the grid-connected inverter output current is obtained through calculations using active / reactive power reference values ​​and grid voltage. A current-type pulse train (PT) control method is used to make the output current follow its reference value, thereby achieving the indirect power control objective. Therefore, the control method provided by this invention does not require an error amplifier and its compensation network (proportional-integral controller), the controller parameter design and digital implementation are relatively simple, and it has the advantage of low software cost, possessing certain academic research and engineering application value.

The invention provides a high-stability control method for a power grid simulator, and the method comprises the steps: embedding a virtual impedance feature Zvirref (s) in an integral controller of a voltage controller module, and forming a controller structure of Ki * Zvirref (s) / s; and dynamically adjusting the integral gain Ki according to the virtual impedance generated by the power grid simulator and the physical impedance provided by the impedance network B so as to meet the condition that the amplitude of the virtual impedance is not higher than the amplitude of the physical impedance in the frequency range in which the virtual impedance is presented to be non-passive. Decoupling between internal control dynamic and virtual impedance characteristics of the power grid simulator is realized, and the self-stability of the power grid simulator under different impedance simulation conditions is ensured; the self-adaptive adjustment of the closed-loop transfer function of the power grid simulator is realized, the virtual impedance and the physical impedance are ensured to meet the Nyquist stability criterion, and the interaction stability between the power grid simulator and the tested object is improved.

The application provides an aero-engine integral type constant differential pressure control system and method. In the system, a controlled object control system controls the controlled object based on an instruction oil pressure increment of a disturbance change, an incremental flow area of a metering valve, and a current incremental flow area of an actuating valve output by a stabilizing controller, and outputs an incremental pressure of the metering valve; the stabilizing controller obtains a new incremental flow area of the actuating valve based on a first adjustment difference between the incremental pressure of the metering valve output and an incremental spring cavity pressure of the actuating valve output by an integral controller; and the integral controller processes a second adjustment difference between the incremental pressure of the metering valve output by the controlled object control system and an instruction oil pressure increment input into the system by using a preset integral control algorithm, and obtains the incremental spring cavity pressure of the actuating valve. The system realizes robust servo tracking without static error.

The invention relates to the technical field of power systems, in particular to an event-triggered proportional-integral repetitive controller and method and a related device. Two channels of the event triggering block are respectively provided with two adjusting coefficients, and tracking error signals are respectively input into a repetitive controller and a proportional-integral controller after being adjusted; when a triggering condition is met, two adjustment coefficients of a forward channel of the event triggering block change along with time; the tracking error is increased, the adjustment coefficient of the repetitive control channel is reduced, and the adjustment coefficient of the proportional-integral channel is increased; and after a trigger period, the two adjustment coefficients of the event trigger block are gradually recovered to default values along with the reduction of the tracking error signal. According to the invention, decoupling of the proportional-integral repetitive controller is realized, the dynamic performance is improved, and output distortion of multiple periods caused by mismatching of the dynamic performance of the proportional-integral controller and the repetitive controller is avoided.