改善转台速率平稳性的混合鲁棒重复控制方法

Hybrid robust repetitive control scheme for rate smoothness improvement of turntable

提出了一种混合形式的鲁棒重复控制方法,来抑制转台速率系统中存在的位置相关周期性扰动.该方法综合了变结构控制和重复控制,重复控制在未知对象模型的情况下抑制周期性扰动,而变结构控制用于镇定不确定性系统和保证重复学习过程收敛.应用李亚普诺夫直接法证明了误差的渐近收敛性.计算机仿真结果表明该方法有效地改善了转台速率系统的平稳性.

A hybrid robust repetitive control scheme is presented to reject position relevant periodic disturbance in rate system of turntable. The method synthesizes VSC （ Variable Structure Control） law and RC （ Repetitive Control） law. RC strategy can eliminate the rate fluctuation in steady state without knowledge of plant model, while VSC strategy can stabilize system uncertainty and guarantee convergence of the repeated learning process. The system stability and asymptotic position tracking performance are validated by using Lyapunov function. The simulation results show the effectiveness of proposed approach for improvement of rate smoothness.