| 引用本文: | 贾奉溢,周兰,李美柳,肖文彬.时变周期重复控制系统的等价输入干扰补偿与参数优化设计[J].控制理论与应用,2026,43(4):883~892.[点击复制] |
| JIA Feng-yi,ZHOU Lan,LI Mei-liu,XIAO Wen-bin.Equivalent-input-disturbance compensation and parameter optimization for time-varying periodic repetitive control systems[J].Control Theory & Applications,2026,43(4):883~892.[点击复制] |
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| 时变周期重复控制系统的等价输入干扰补偿与参数优化设计 |
| Equivalent-input-disturbance compensation and parameter optimization for time-varying periodic repetitive control systems |
| 摘要点击 252 全文点击 22 投稿时间：2024-06-05 修订日期：2025-05-21 |
| 查看全文 查看/发表评论 下载PDF阅读器 HTML |
| DOI编号 10.7641/CTA.2024.40311 |
| 2026,43(4):883-892 |
| 中文关键词 时变周期 重复控制 等价输入干扰 粒子群优化算法 |
| 英文关键词 time-varying period repetitive control equivalent input disturbance particle swarm optimization algorithm |
| 基金项目 国家自然科学基金项目(62373145, 62303179), 湖南省自然科学基金项目(2021JJ30006, 2023JJ40297, 2023JJ40295), 湖南省教育厅科研基金项目 (21A0321, 22B0468, 22C044), 湖南省重点研发计划项目(2023GK2027)资助. |
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| 中文摘要 |
| 本文提出一种基于等价输入干扰(EID)补偿的重复控制系统结构和参数优化设计方法, 对非周期扰动的作
用进行实时估计和有效补偿, 实现对时变周期参考输入信号的高精度跟踪. 首先, 利用时变时滞算子构建时变周期
参考输入信号内模, 引入低通滤波器建立时变周期重复控制器; 其次, 构造比例–积分观测器重构系统状态, 建立基
于EID补偿的时变周期重复控制系统结构; 然后, 分析系统的稳定性条件和扰动抑制性能, 构建以稳定性为约束条
件的粒子群算法, 寻找重复控制器增益、反馈控制器增益、状态观测器和EID估计器的最优参数组合; 最后, 将所提
方法应用到卡盘–工件系统, 仿真对比说明所提方法比传统的基于状态观测器的定周期重复控制、基于EID补偿的
空间域重复控制方法具有更好的抗扰性能和稳态性能. |
| 英文摘要 |
| This paper presents a repetitive control system structure and a parameter optimization design method based
on the equivalent input disturbance (EID) compensation approach, which aims to estimate and compensate for the effect
of aperiodic disturbances in real time and achieves high accuracy tracking for the time-varying periodic reference signal.
Firstly, a time-varying time-delay operator is used to construct the internal mode of the time-varying periodic reference
input signal, and a low-pass filter is introduced to construct the time-varying periodic repetitive controller. Secondly, a
proportional-integral observer is constructed to reconstruct the state of the system, and a time-varying periodic repetitive
control system based on EID compensation is established. Then, the stability and disturbance-rejection performance of
the system are analyzed, and a particle swarm optimization algorithm with stability as the constraints is constructed to
find an optimal combination of the repetitive controller gain, the feedback controller gain, the state observer gain, and the
parameter of the EID estimator. Finally, the proposed method is applied to the chuck-workpiece system. Comparative
simulations demonstrate that the proposed method has better disturbance-rejection and steady-state tracking performance
than the conventional state-observer-based fixed-period repetitive control and EID-compensation-based spatial repetitive
control methods. |
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