The Research Of High-performance Servo Based On Repetitive Control

The requirements of Servo performance are more and more increasing. Using thetraditional PID control will no longer meet the requirements, and it is difficult to yielda good control performance because its parameters can get not optimal values butcompromised values.Furthermore,these parameters are turned in the unloadedcondition,so the control performance will be affected if the load of controlled objector environment condition changes deeply.In control system practice,high accuracytracking or rejection of unknown periodic exogenous signals with a known period isfrequently needed.The repetitive control(RC) is an effective approach for such controlproblems.Based on the internal model principle,repetitive control can achieve zerosteady-state error by including a periodic signal generator in the controlloop.Distinguished by its simple structure,high steady-state control accuracy andinsensitiveness to parameter variation,the repetitive control accuracy andinsensitiveness to parameter variation,the repetitive control has drawn much attentionsince its introduction to the control community.The main principle of this Digital AC Servo System is using TMS320F2808DSP control chip and voltage space vector method to drive the motor. The maincontent is as follows:Firstly,introducing the background,origination,significance of this subject andpreparations before starting this subject.Secondly,based on the PMSM model,using the Engineering Design methoddesign the parameters of current-loop controller,speed-loop controller andposition-loop controller.In order to check the Engineering Design method wesimulated it with the Matlab software.From the results of the simulation andexperiment,we can conclude that the method is right.Thirdly,introducing the basic principle of prototype repetitive controller andaccording to its disadvantages proposed a new improved repetitivecontroller,including the analysis of stable performance and convergence performanceof the improved repetitive controller etc,at lase the repetitive controller’s parametersdesign are discussed deeply in this paper according to this PMSM model.Fourthly, constructing the digital servo system experiment platform,including thesystem’s hardware and software design.At last,according to the system experiment platform,we conducted a series ofexperiments,including the step response experiment of current-loop,speed-loop,andthe position tracking experiment,etc.