| 基于干扰补偿趋近律的离散滑模多周期重复控制 |
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| 引用本文： | 杨启尧,邬玲伟,严求真,林志明.基于干扰补偿趋近律的离散滑模多周期重复控制[J].控制与决策,2023,38(2):421-428. |
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| 作者姓名： | 杨启尧 邬玲伟 严求真 林志明 |
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| 作者单位： | 浙江水利水电学院 电气工程学院,杭州 310018;台州学院 航空工程学院,浙江 台州 318000;南京航空航天大学 自动化学院,南京 210016;浙江水利水电学院 信息工程学院,杭州 310018 |
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| 基金项目： | 浙江省自然科学基金探索项目(LQ21F030002)；浙江省公益技术研究项目(LGF21F030001)；江苏省博士后科研资助计划项目(2020Z230)；浙江大学工业控制技术国家重点实验室开放课题项目(ICT20019). |
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| 摘 要： | 针对离散时间系统的多周期干扰抑制问题,提出一种离散滑模多周期重复控制器设计方法.利用非线性幂次函数设计新型离散趋近律,将周期差分等效干扰以加权形式嵌入到趋近律中,构造带干扰补偿作用的离散趋近律,并据此设计离散滑模多周期重复控制器.为了进行控制器参数整定和表征闭环系统的收敛性能,推导准滑模域边界层的表达式.所提出控制方法既能够消除多周期干扰信号,也能够减小准滑模域边界层.数值仿真验证了所提出控制方法的有效性.
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| 关 键 词： | 离散时间系统 趋近律 非线性幂次函数 滑模控制 重复控制 干扰补偿 |
Discrete-time sliding mode multi-periodic repetitive control with reaching law based on disturbance compensation |
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| YANG Qi-yao,WU Ling-wei,YAN Qiu-zhen,LIN Zhi-ming.Discrete-time sliding mode multi-periodic repetitive control with reaching law based on disturbance compensation[J].Control and Decision,2023,38(2):421-428. |
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| Authors: | YANG Qi-yao WU Ling-wei YAN Qiu-zhen LIN Zhi-ming |
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| Affiliation: | College of Electrical Engineering,Zhejiang University of Water Resources and Electric Power,Hangzhou 310018,China;College of Aeronautical Engineering,Taizhou University,Taizhou 318000,China;College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;College of Information Engineering,Zhejiang University of Water Resources and Electric Power,Hangzhou 310018,China |
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| Abstract: | This paper presents a design method of a discrete-time sliding mode multi-periodic repetitive controller for the multi-periodic disturbance suppress problem of discrete-time systems. A novel reaching law is designed using the nonlinear power function, periodic difference equivalent disturbance in weighted form is embedded in the reaching law to form a discrete reaching law with disturbance compensation, and thus developing the discrete-time sliding mode multi-period repetitive controller. In order to adjust the control parameters and characterize the convergent performance of the closed-loop system, we derive the expression of the quasi-sliding mode domain. The developed control method not only achieves the rejection of multi-periodic disturbances, but also can obtain the smaller quasi-sliding mode boundary layer. Simulation results validate the effectiveness of the presented control method. |
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