以幂次吸引的离散多周期重复控制

针对一类多周期干扰的抑制问题,提出一种基于幂次吸引律的离散多周期重复控制方法.多周期干扰由多个周期已知的周期干扰叠加而成.根据周期干扰的对称特性,构造出具有干扰抑制项的幂次吸引律,据此设计出子重复控制器,并以并联方式组合成多周期重复控制器,在消除多周期干扰的同时,有效地抑制慢时变非周期干扰带来的影响,改善控制品质;推导出幂次绝对吸引层和稳态误差带的具体表达式,用于刻画系统跟踪性能.仿真结果验证了所提控制方法的有效性.

Discrete multi-periodic repetitive control with power-rate attracting

This paper presents a power-rate attracting law based design method of discrete-time multi-periodic repetitive controllers for the problem of general multi-periodic disturbances rejection. The multi-periodic disturbance is a superposition of multiple periodic disturbances with known periods. According to the symmetry of periodic disturbance, a measure of disturbance rejection is embedded in the power-rate attracting law, thus developing the sub-repetitive controller, and the parallel-mode multi-periodic repetitive controller is designed. The multi-periodic disturbance is rejected completely, and slowtime-varying aperiodic disturbance is suppressed effectively. In order to characterize the tracking performance, we derive the expressions for the range of the power absolute attractive layer and the steady-state error band. Simulation results show the effectiveness of the presented control method.