| 引用本文: | 孙明轩,王辉,范伟云.以幂次趋近的离散变结构重复控制[J].控制理论与应用,2012,29(11):1426~1432.[点击复制] |
| SUN Ming-xuan,WANG Hui,FAN Wei-yun.Discrete-time variable-structure repetitive control with power-rate reaching[J].Control Theory and Technology,2012,29(11):1426~1432.[点击复制] |
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| 以幂次趋近的离散变结构重复控制 |
| Discrete-time variable-structure repetitive control with power-rate reaching |
| 摘要点击 2200 全文点击 1796 投稿时间：2011-05-07 修订日期：2012-07-12 |
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| DOI编号 10.7641/j.issn.1000-8152.2012.11.CCTA110512 |
| 2012,29(11):1426-1432 |
| 中文关键词 幂次趋近律 变结构控制 重复控制 离散时间系统 |
| 英文关键词 power-rate reaching law variable structure control repetitive control discrete-time systems |
| 基金项目 国家自然科学基金资助项目(60874041, 61174034). |
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| 中文摘要 |
| 本文提出一种离散变结构重复控制器设计方法, 在趋近律中“嵌入”扰动抑制措施, 构造理想切换动态, 并据此导出重复控制器. 为了进行控制器参数整定和刻画闭环系统的收敛性能, 文中推导出准滑模带、单调收敛层和绝对收敛层边界的表达式. 设计的离散变结构重复控制器能够完全抑制周期性扰动, 控制器设计方法也适用于常值扰动下的定位控制. 数值仿真及实验结果验证了所提出控制方案的有效性. |
| 英文摘要 |
| We present a discrete-time variable-structure repetitive controller; in which a measure of disturbance-rejection is embedded in the reaching law to form the ideal dynamics of switching, thus developing the repetitive controller. For the convenience in adjusting the control parameters and describing the convergent performance of the closed-loop system, we derive the expressions for the range of the quasi-sliding-mode and the boundary between the monotonic convergence layer and the absolute convergence layer. The developed repetitive controller is not only effective in perfect rejection of periodic disturbances, but also applicable to position control with constant disturbances. Both numerical simulation and experiment results demonstrate the effectiveness of the proposed repetitive control scheme. |