基于等价输入干扰补偿的时滞重复控制系统扰动抑制设计

Disturbance rejection design for repetitive control system with state delay based on equivalent input disturbance compensation

针对一类带有状态时滞的重复控制系统,提出一种基于改进的等价输入干扰(equivalent-input-disturbance,EID)补偿方法,实现对未知扰动的有效抑制和周期性参考输入的高精度跟踪控制。首先,基于EID理论设计基于滑模观测器的EID估计器结构,此结构不需要利用系统的逆模型估计未知扰动,即可实现对未知干扰的有效抑制。然后,推导闭环系统的状态方程,并进行稳定性分析。最后,通过数值仿真分析对比说明所提方法的有效性和优越性。

For a class of repetitive control systems with state time delays,an improved equivalent-input-disturbance(EID)compensation method is proposed,which achieves effective suppression of unknown disturbances and high-precision tracking control of periodic reference input.Firstly,based on the EID theory,the EID estimator structure based on the sliding mode observer is designed.This structure can effectively suppress the unknown disturbance without using the inverse model of the system to estimate the unknown disturbance.Then,the state equation of the closed-loop system is derived and stability analysis is performed.Finally,the effectiveness and superiority of the proposed method are illustrated by numerical simulation analysis and comparison.