基于优化性能的重复控制器设计

Repetitive Controller Design Based on Optimal Performance

提出一种基于优化性能的重复控制器设计方法。首先,对重复控制器中时滞环节的时延进行修正,以补偿由于低通滤波器的引入所带来的相位滞后,进而提高系统在参考/干扰信号基频处的增益,增强系统对基频信号的跟踪/抑制能力;其次,在重复控制器中加入超前校正环节,不仅拓宽了低通滤波器的带宽,而且提高了系统的高频增益,使得系统在高次谐波处的性能得以大幅提升。重复控制器的参数通过求解2个优化问题得到。在保证系统稳定的前提下,提出的设计方法最大限度地提升了系统的性能。针对光盘驱动器控制系统的仿真结果证实了该设计方法的有效性。

A repetitive controller design method is proposed based on optimal performance. The dead time of the repetitive controller is modified to compensate the phase lag introduced by the low-pass filter. The system gain at the fundamental frequency of the reference/ disturbance signals is increased and the system tracking/rejection capacity for fundamental frequency signals is enhanced. A lead compensator is implemented in the repetitive controller, to widen the bandwidth of the low-pass filter, to improve the system gain at high frequencies. The system performance at high order harmonics is greatly improved. The values of the repetitive controller parameters are obtained by solving two optimization problems. While pceserving system stability, the proposed repetitive controller design method dramatically improves system performance. Simulation results on an optical disk drive control system show the validity of the proposed method.