Discrete Repetitive Controller Design And Implementation On A Linear Motor

In practical applications, a plant often needs to accomplish misson repeatedly, and needs totrack or reject a periodical reference signal. It is valuable to study the repetitive control algrithmto improve the control precision of the system. The discrete-time sliding mode repetitive controland ideal error dynamics based control technology is studied, and a half/quarter-period slidingmode repetitive control and ideal integral error dynamics based control algorithm are proposed inthis paper. The main work and achievements are as follows:1. It has periodical disturbance when a control system tracks a periodical reference signal.And if the periodical disturbance is half/a quarter symmetry, a half/quarter-period sliding moderepetitive controller is designed. The band of absolute attractive layer, monotone descendingregion and quasi-sliding mode of the control system are analyzed. The correctness of itsconvergence analysis is proved by the digital simulation results. The application of the controlalgorithm in the servo system demonstrated that this method can reject the periodic disturbancesabsolutely.2. Ideal integral error dynamics based repetitive controller is designed to improve thecontrol performance of servo system. Ideal error dynamics based control algorithm is easier andhas a characteristic to make the system state to a target origin by designing error dynamicsfunction directly. Simulation and experimental results show that ideal integral error dynamicsbased control algorithm can improve the performance of the linear servo system than thetraditional ideal error dynamics based one.3. In order to identify the model of linear servo system, LS algorithm and Bode modelingmethod are used in this paper. The model identified by the two methods is applied in the servosystem, and its results are great.4. The discrete-time sliding mode repetitive control and ideal integral error dynamics basedcontrol algorithm are applied on the DSP board as a position loop controller in the linear servosystem. The experimental results show that these control algorithms in this paper can have agood application.