基于干扰补偿趋近律的离散滑模双周期重复控制
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作者单位:

1.浙江水利水电学院电气工程学院;2.台州学院电子与信息工程学院;3.浙江水利水电学院信息工程学院

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TP273

基金项目:

浙江省自然科学基金探索项目(LQ21F030002),浙江省公益技术研究项目( LGF21F030001),江苏省博士后科研资助计划项目(2020Z230),浙江大学工业控制技术国家重点实验室开放课题(ICT20019)


Discrete-time sliding mode dual-periodic repetitive control with reaching law based on disturbance compensation
Author:
Affiliation:

1.School of Electrical Engineering, Zhejiang University of Water Resources and Electric Power;2.College of Electronic and Information Engineering, Taizhou University;3.College of Information Engineering, Zhejiang University of Water Resources and Electric Power;4.College of Electronic and Information Engineering, Taizhou University,

Fund Project:

Youth Fund of Zhejiang Provincial Natural Science Foundation under Grant LQ21F030002, Zhejiang Province Welfare Technology Applied Research Project under Grant LGF21F030001, Jiangsu Provincial Postdoctoral Science Foundation under Grant 2020Z230,Open Research Project of the State Key Laboratory of Industrial Control Technology, Zhejiang University ,China under Grant ICT20019

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    摘要:

    针对离散时间系统的双周期干扰抑制问题, 本文提出一种离散滑模双周期重复控制器设计方法. 利用非线性幂次函数设计新型离散趋近律, 将周期差分等效干扰以加权滤波的形式嵌入到趋近律中, 构造带干扰补偿作用的离散趋近律, 据此设计出离散滑模双周期重复控制器. 设计的控制器在完全抑制双周期干扰信号的同时, 实现对非周期干扰信号的有效抑制. 文中推导出准滑模域边界的表达式, 用于表征闭环系统的跟踪性能. 数值仿真验证了所提出控制方法的有效性.

    Abstract:

    This paper presents a design method of discrete-time sliding mode dual-periodic repetitive controller for the dual-periodic disturbance suppress problem of discrete-time systems. Novel reaching law is designed by using nonlinear power function, periodic difference equivalent disturbance in the form of weighted filtering is embedded in the reaching law to form a discrete reaching law with disturbance compensation, and thus developing discrete-time sliding mode dual-period repetitive controller. The developed controller not only achieves perfect rejection of dual-periodic disturbances, but also aperiodic disturbance is effectively suppressed. For characterizing the tracking performance, we derive the expression of quasi-sliding mode domain. Computer simulation results are given to validate the effectiveness of the presented control method.

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  • 收稿日期:2021-03-24
  • 最后修改日期:2021-10-29
  • 录用日期:2021-11-10
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