重复控制系统的稳定性分析

Stability analysis of repetitive control system

在非圆数控车削加工等场合,需要伺服驱动单元执行重复性的工作,其输入为周期性的信号或指令,其输出要求能稳定无静差地跟踪这种周期性的输入信号.而重复控制对于周期性的信号和周期性的干扰具有较好的跟踪效果和抑制作用.从时域和频域两个角度对基于内模原理的重复控制系统的原理及稳定性进行了分析,同时对改进的重复控制系统的原理及稳定性也进行了剖析,揭示了重复控制的实质,最后对设计实例进行了稳定性分析,验证了重复控制系统以及改进的重复控制系统的稳定性.

Repetitive action is needed by servo drive system in the process of non-circular numerical control machining etc.The input is periodic signal or command and the output is required to stably track the periodic input signal without static error.Repetitive control has good tracking effect and disturbance restraint for periodic signal and/or periodic disturbance.The principle and stability of repetitive control system based on internal model principle are analyzed from the view of time and frequency domains.Furthermore,the principle and stability of modified repetitive control system are dissected and the essence of repetitive control is revealed.At last the stability of repetitive control system and the stability of modified repetitive control system are verified by analyzing the stability of a designed example.