伺服系统中抑制非线性扰动的有限维重复控制方法  

Rejection of Nonlinear Disturbances in Servo Systems with Finite-dimensional Repetitive Control

作　　者：李翠艳[1] 庄显义[1] 

机构地区：[1]哈尔滨工业大学控制科学与工程系,哈尔滨150001

出　　处：《控制与决策》2005年第7期798-802,共5页Control and Decision

摘　　要：针对一类具有严重非线性扰动的伺服系统,提出一种有限维重复控制方法以实现高精度的信号跟踪.所考虑的扰动与系统输出间存在未知非线性关系,仅设其满足连续里普希斯条件,便可处理大多数实际情况.应用不动点原理,给出了所提出方法有效的充分条件,该条件也是应用基于系统周期不变性的学习控制方法的必要条件.在稳定的闭环系统中,利用H阶有限维重复控制器,可实现参考信号前H次谐波的渐近跟踪.仿真结果证明了方法的有效性.A finite-dimensional repetitive control method is presented for the high accuracy tracking in servo systems subject to a class of significant nonlinear disturbances. The disturbance has unknown dependency on system output with continuous Lipschitz condition. A sufficient condition is derived by using the fix point theorem. This condition is also necessary for learning control methods utilizing the period invariance property of the system. With the H-order finite-dimensional repetitive controller included in the stable closed loop, asymptotic tracking of the reference signal up to the H-th harmonics can be achieved. The simulation results show the effectiveness of the proposed method.

关 键 词：高精度跟踪 输出相关非线性扰动 有限维重复控制器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]