离散时间系统重复控制的理想误差动态方法

Ideal-error-dynamics approach for repetitive control of discrete-time systems

针对周期参考信号下的离散时间系统,引入吸引律构造理想误差动态特性,并基于理想误差动态设计重复控制器.重复控制能够实现周期性扰动的完全抑制,从而提高控制性能.为了消除颤振现象,以饱和函数替换重复控制器中的符号函数.分别推导了理想误差动态方程的单调减区域、吸引层和稳态误差带的边界,用于刻画误差动态行为,并给出了数值仿真结果.在逆变器装置上完成的实验进一步表明了所提出的重复控制方法的有效性.

This paper presents a repetitive control method for discrete-time systems, where the reference signal is periodic. An attracting law is suggested to form ideal error dynamics, and the repetitive controller design is carded out based on the ideal error dynamics. Through replacing the sign function with the saturation function, the chatting can be eliminated, and complete rejection for periodic disturbances can be achieved. To characterize the error dynamics, the monotonically decreasing region, the attractive layer, and the steady-state error band are defined, and the bounds for three layers are derived respectively. Numerical simulation and experiment results on a DC/AC converter are presented to show the effectiveness of the proposed repetitive control method.