| 引用本文: | 邬玲伟,孙明轩.无抖振离散重复控制器的设计与实现[J].控制理论与应用,2015,32(4):554~560.[点击复制] |
| WU Ling-wei,SUN Ming-xuan.Design and implementation of a chattering-free discrete-time repetitive controller[J].Control Theory & Applications,2015,32(4):554~560.[点击复制] |
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| 无抖振离散重复控制器的设计与实现 |
| Design and implementation of a chattering-free discrete-time repetitive controller |
| 摘要点击 3483 全文点击 1490 投稿时间：2014-04-01 修订日期：2014-12-22 |
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| DOI编号 10.7641/CTA.2015.40268 |
| 2015,32(4):554-560 |
| 中文关键词 重复控制 无抖振 理想误差动态 离散时间系统 |
| 英文关键词 repetitive control chattering-free ideal error dynamics discrete-time systems |
| 基金项目 国家自然科学基金项目(61174034, 61374103)资助. |
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| 中文摘要 |
| 针对周期参考/干扰信号下的不确定离散时间系统, 提出一种基于吸引律的重复控制方法, 在吸引律中“嵌入”干扰抑制措施, 构造理想 误差动态, 并基于此设计重复控制器. 文中推导出单调减区域、绝对吸引层和稳态误差带边界的表达式, 用于整定控制器参数和表征闭环 系统的跟踪性能, 并 给出了跟踪误差在无干扰时收敛于原点及在干扰存在时收敛 进入稳态误差带内所需最多步数的表达式. 设计的重复控制器不仅能够完全抑制周期干扰信号, 而且可以消除 系统抖振. 在电机实验装置上的应用结果表明了所提出控制方法的有效性. |
| 英文摘要 |
| This paper presents an attracting-law-based design of discrete-time repetitive controllers for systems with periodic reference/disturbance signals. A measure of disturbance-rejection is embedded in the attracting law to form the ideal error dynamics, by which the discrete-time repetitive controller is derived. For characterizing the tracking performance and the convenience in adjusting the controller parameters, we derive the expressions for the range of the steady-state error, the boundary of the monotonically decreasing region and the absolute attractive layer, and the steps for tracking error to converge to the origin/steady-state error bound without/with the disturbances. The developed repetitive controller is not only effective for rejecting the periodic disturbances, but also ensures chattering avoidance. A motor servo system is taken as an example, and experiment results are given to validate the feasibility and effectiveness of the presented control method. |