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

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

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.