Disturbance Suppression Method For Timing Belt Drive System Based On Improved Second-Order Repetitive Control

The timing belt drive method is widely used in industrial production as a low-cost,lightweight transmission method.However,in actual operation,the friction,elasticity,hysteresis and uncertainty of structural parameters of the belt drive system tend to lead to the reduction of the closed-loop performance of the system,which in turn affects the motion accuracy and dynamic response capability of the drive system.Therefore,effective suppression of nonlinear disturbances and enhancement of the control performance of the drive system are essential to improve the motion accuracy of the belt drive system.Based on this,this paper proposes a disturbance suppression method combining improved second-order repetitive control and disturbance observer,which has important research significance and application value for effectively improving the motion accuracy of timing belt drive system.According to the structural characteristics and working principle of the timing belt drive system,the equivalent dynamics model of the timing belt drive system is constructed by using the aggregate parameter method,and the influence law of relevant parameters on the mechanical dynamic characteristics of the drive system is obtained.Based on this,a timing belt drive system control architecture combining repetitive control and feed-forward P/PI control strategies is established to achieve effective suppression of periodic disturbances in the drive system.Subsequently,segmented repetitive control and new second-order repetitive control are introduced to build an improved second-order repetitive control architecture,which not only meets the requirements for accurate compensation of the running trajectory,but also enhances the anti-cycle fluctuation capability of the repetitive controller and significantly improves the motion accuracy of the drive system.Based on the analysis of the architecture of the disturbance observer,the influence law of the low-pass filter parameters on the disturbance suppression ability of the drive system is explored,and the guidelines for the independent design of the control system trajectory tracking and disturbance suppression are clarified.Then,in combination with an improved second-order repetitive control architecture,a disturbance suppression method for timing belt drive systems is proposed.From the calculation results,it can be seen that the proposed method successfully overcomes the drawback that the repetitive control cannot act on the first operation cycle while satisfying the motion accuracy of the drive system.Based on the above calculation and analysis,an experimental platform was built to complete the experimental verification of the performance of the timing belt drive system under different control methods.Experimental results show that compared with the feedforward P/PI control strategy,the proposed control method in this paper reduces the positive/negative peak errors by 61.32%and 62.89%,respectively,after 5 cycles of operation.After 10 cycles of operation,the positive/negative peak errors were reduced by 72.29%and 70.41%,respectively,significantly improving the motion accuracy of the drive system.