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针对周期参考信号下的不确定离散时间系统,提出一种离散重复控制方法,利用死区函数设计新型的吸引律,将干扰补偿、抑制措施“嵌入”吸引律,构造理想误差动态,并基于此导出重复控制器.为了进行具体的控制器参数整定和表征闭环系统的误差动态行为,推导出了稳态误差带、单调减区域和绝对吸引层边界的表达式.所设计的离敞重复控制器能够完全抑制周期对称干扰信号,控制器设计方法也适用于常值调节问题的定位控制.数值仿真及在电机伺服系统上的实验结果验证了所提出控制方法的有效性.
Aiming at the uncertain discrete-time system under periodic reference signal, a discrete repetitive control method is proposed. A new type of attracting law is designed by using the dead zone function. The interference compensation and the restraining measure are embedded into the attracting law to construct ideal error dynamics. Based on this, the iterative controller is derived. For the sake of specific controller parameter tuning and characterization of the error dynamic behavior of the closed-loop system, the expressions of the steady-state error band, monotone decreasing region and absolute attracting layer boundary are derived. The controller can completely restrain the periodic symmetric interference signal, and the controller design method is also suitable for the positioning control of the constant value adjustment problem.The numerical simulation and the experimental results on the motor servo system verify the effectiveness of the proposed control method.