| 孙明轩,王晗,邹胜祥.离散重复控制系统设计：一种幂次吸引律方法[J].高技术通讯(中文),2022,32(7):763~772 |
| 离散重复控制系统设计：一种幂次吸引律方法 |
| Discrete-time repetitive control system design:a power-rate-law approach |
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| DOI：10.3772/j.issn.1002-0470.2022.07.011 |
| 中文关键词: 吸引律； 幂次律； 收敛性； 重复控制； 扰动补偿； 离散时间系统 |
| 英文关键词: attracting law, power-rate laws, convergence, repetitive control, disturbance compensation, dis-crete-time system |
| 基金项目: |
| 作者 | 单位 | | 孙明轩 | (浙江工业大学信息工程学院杭州 310023) | | 王晗 | (浙江工业大学信息工程学院杭州 310023) | | 邹胜祥 | (浙江工业大学信息工程学院杭州 310023) |
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| 中文摘要: |
| 针对周期参考信号下的离散时间系统, 提出一种幂次吸引控制系统设计方法。基于幂次吸引律构造离散重复控制器，实现周期性扰动的完全抑制，并采取扰动观测技术对扰动非周期成分进行有效抑制。为了刻画系统误差的动态性能，给出离散吸引律的吸引指标表达式，包括吸引域、绝对吸引层、稳态误差带以及最大收敛步数，并对不同幂次的稳态误差带进行比较，为幂次选取提供依据。数值仿真与实验结果验证了所提设计方法的有效性。 |
| 英文摘要: |
| This paper addresses the problem of periodic reference tracking for discrete-time systems, for which the control design ensures power-rate tracking performance. A power-rate-law based discrete repetitive controller is designed to achieve the perfect rejection of periodic disturbances, while the disturbance observation technique is adopted for ef-fectively compensating aperiodic ones. In order to characterize the performance of the closed-loop system undertak-en, for the discrete-time counterpart, the attractive basin, absolute attraction layer, steady-state error band and the maximum number of convergence are derived respectively. The presented results of comparing the steady-state error bands with different power-rates are shown to be helpful for the parameter selection. Numerical simulation and ex-perimental results are presented to demonstrate effectiveness of the proposed control scheme. |
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