高精度速率控制系统的有限维重复控制方法

Finite-dimensional Repetitive Control Method for High Precision Velocity Control Systems

提出了一种有限维重复控制方法 ,以实现对有严重非线性扰动力矩的伺服机构的高精度速率控制。所考虑的非线性扰动力矩是角位置的周期函数 ,这在实践中是很常见的。给出了该方法应用的充分条件 ,这一条件是基于系统周期不变性的学习算法的必要条件。实验结果证明 。

A finite dimensional repetitive control method is proposed for the high precision velocity control of servomechanisms subject to significant nonlinear disturbance torque.The disturbance torque dealt with is assumed to be periodic in position,which is very common in practice.A sufficient condition is given for the application of the proposed method.It should be noted that this condition is necessary for learning algorithms based on the period invariance property of the system.Experimental results show that with the proposed method,the steady state velocity error due to the disturbance torque can be reduced significantly.