| 基于椭圆吸引律的离散重复控制 |
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| 引用本文： | 胡轶,胡志云,孙明轩.基于椭圆吸引律的离散重复控制[J].控制与决策,2020,35(4):1009-1016. |
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| 作者姓名： | 胡轶 胡志云 孙明轩 |
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| 作者单位： | 浙江工业大学信息工程学院,杭州,310023 |
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| 基金项目： | 国家自然科学基金项目(61573320)；浙江省自然科学基金项目(LY16E070005). |
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| 摘 要： | 针对离散时间系统的周期轨迹跟踪问题,提出一种基于椭圆吸引律的离散重复控制方法.该方法能有效减小抖振,并通过扰动扩张状态观测技术对系统的未知扰动进行有效抑制,采用重复控制技术对系统中存在的周期扰动完全消除.为了刻画系统误差动态性能,推导出单调减区域、绝对吸引层、稳态误差带的表达式以及系统跟踪误差进入稳态误差带的最大步长.通过数值仿真与直线伺服电机实验,验证所提出控制方法的有效性.
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| 关 键 词： | 抖振 无切换吸引律 参数整定 干扰差分 理想误差动态 离散时间系统 |
Discrete repetitive control based on elliptical attraction law |
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| HU Yi,HU Zhi-yun and SUN Ming-xuan.Discrete repetitive control based on elliptical attraction law[J].Control and Decision,2020,35(4):1009-1016. |
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| Authors: | HU Yi HU Zhi-yun and SUN Ming-xuan |
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| Affiliation: | College of Information Engineering,Zhejiang University of Technology,Hangzhou310023,China,College of Information Engineering,Zhejiang University of Technology,Hangzhou310023,China and College of Information Engineering,Zhejiang University of Technology,Hangzhou310023,China |
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| Abstract: | An elliptical attracting law which can effectively reduce chattering is proposed for the periodic tracking problem of discrete time systems. The disturbance of the extended state observe technique is used to effectively reduce the unknown disturbance of the system, and the periodic disturbance is able to be completely rejected by the repetitive control technique. In order to evaluate the tracking performance of the closed-loop system, the expressions of the monotone decreasing region, the absolute attractive layer, the boundary of the steady-state error and the maximum step size of the system tracking error entering the steady state are derived in details. Simulation and experimental results of a linear servo motor system are presented to verify effectiveness of the proposed repetitive control method. |
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