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针对离散时间线性系统的周期跟踪问题,提出一种能够约束控制输入变化速度的变速吸引律,结合干扰抑制措施构造了理想误差动态,并由此导出离散重复控制器.分析表明,该变速吸引律能使跟踪误差在有限时间内单调收敛至零,且误差收敛速度可控.为刻画误差动态行为,推导了有界扰动下的误差单调收敛域、绝对值收敛域和稳态误差带,并给出了收敛步数.针对伺服电机系统的仿真与实验结果验证了所提出控制方案的有效性.
In order to solve the periodic tracking problem of discrete-time linear systems, a variable speed attracting law that can constrain the speed of change of control input is proposed, and the ideal error dynamics is constructed based on the interference suppression measures. The discrete controller is deduced. The tracking error can monotonously converge to zero within a finite time and the error convergence rate can be controlled.In order to characterize the error dynamic behavior, the error monotonic convergence domain, absolute value convergence domain and steady-state error band under bounded disturbance are derived The number of convergence steps is out.The simulation and experimental results of servo motor system verify the effectiveness of the proposed control scheme.