一种改进的重复控制器在高频角振动转台中的应用

A Modified Repetitive Controller and Its Application to High-Frequency Angular-Vibration Table

针对高频角振动转台在高频段跟踪周期信号的精度低问题,提出一种改进重复控制器设计方法。在重复控制的前项通道中引入可调增益,给出该系统稳定的条件以及控制器参数的确定方法,并论证了该方法的误差收敛和跟踪精度。仿真和实验表明,在高频段改进的重复控制器与PID控制器相比较,提高了转台正弦跟踪精度,改善了谐波失真度和高次谐波对转台角加速度的影响,同时也提高了系统的鲁棒稳定性。

Designed method of a modified repetitive controller is proposed and its application to high-frequency angular-vibration table is introduced. This control technique resolves the main problem that is how to promote the tracking precision of the periodic reference input signal in the high-frequency. The forward channel of modified repetitive controller introduces a adjustable gain that is related to parameter of low-pass filter. The conditions of stability and the designed method of correlation parameters in the controller are deducted. Robustness and tracking accuracy are discussed. Experimental results verified the robust stability of modified repetitive control systems. The simulation results show that tracking precision of the modified repetitive controller in the high frequency is advanced in comparison with tacking precision of the PID controller. Total harmonic distortion and influence to angular acceleration of table can be improved by applying the modified repetitive controller.