无抖振离散重复控制器的设计与实现

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.

Design and implementation of a chattering-free discrete-time repetitive controller

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.