Repetitive controller, control method thereof and feedback control system
View Patent ↗A repetitive controller, a control method thereof and a feedback control system are disclosed. The repetitive controller includes an internal model section, a periodic delay module and a compensation module. An input quantity is input into the repetitive controller via an input terminal of the internal model section; the internal model section, the periodic delay module and the compensation module are connected in series. The repetitive controller further includes a particular frequency selection and passing module, connected in series with the internal model section, the periodic delay module and the compensation module or configured on a forward path of the internal model section. In the repetitive controller of the disclosure, a particular frequency selection and passing module is incorporated such that only the harmonic at the selected frequency are filtered out, thereby realizing the function of removing the harmonic at the particular frequency.
1. A repetitive controller, comprising an internal model section, a periodic delay module and a compensation module, an input quantity being input into the repetitive controller via an input terminal of the internal model section; the internal model section, the periodic delay module and the compensation module being connected in series; wherein the repetitive controller further comprises:
a particular frequency selection and passing module configured to select and pass a signal at a particular frequency, and wherein the particular frequency selection and passing module is connected in series with the internal model section, the periodic delay module and the compensation module or configured on a forward path of the internal model section,
wherein the compensation module comprises a repetitive control gain module and a compensation filtering module connected in series.
2. The repetitive controller of claim 1 , wherein the particular frequency selection and passing module is further configured to perform a phase lead compensation to the signal at the particular frequency.
3. The repetitive controller of claim 1 , wherein the compensation module further comprises a phase lead compensation module, and the repetitive control gain module, the phase lead compensation module and the compensation filtering module are connected in series.
4. The repetitive controller of claim 3 , wherein the internal model section comprises an adder, an internal model periodic delay module and an internal model filtering module; a first input terminal of the adder is the input terminal of the internal model section; the internal model periodic delay module and the internal model filtering module are connected in series to form a feedback path, an output terminal of the feedback path is connected to a second input terminal of the adder, and an input terminal of the feedback path is connected to an output terminal of the adder.
5. The repetitive controller of claim 1 , wherein the particular frequency selection and passing module is a frequency selection and phase shift module, and the frequency selection and phase shift module is connected in series with the internal model section, the periodic delay module and the compensation module; the internal model section comprises an adder, an internal model periodic delay module and an internal model filtering module; a first input terminal of the adder is the input terminal of the internal model section; the internal model periodic delay module and the internal model filtering module are connected in series to form a feedback path;
an output terminal of the feedback path is connected to a second input terminal of the adder, and an input terminal of the feedback path is connected to an output terminal of the adder.
6. The repetitive controller of claim 1 , wherein the particular frequency selection and passing module, which is a frequency selection and phase shift module, is provided on a forward path of the internal model section, the internal model section comprises an adder, an internal model delay module, an internal model periodic delay module and an internal model filtering module; a first input terminal of the adder is the input terminal of the internal model section; the internal model delay module, the internal model periodic delay module and the internal model filtering module are connected in series to form a feedback path; an output terminal of the feedback path is connected to a second input terminal of the adder, and an input terminal of the feedback path is connected to an output terminal of the adder.
7. A control method of a repetitive controller comprising an internal model section, a periodic delay module, a compensation module and a particular frequency selection and passing module connected in series with the internal model section, the periodic delay module and the compensation module or configured on a forward path of the internal model section, an input quantity being input into the repetitive controller via an input terminal of the internal model section; the internal model section, the periodic delay module and the compensation module being connected in series; the method comprising:
performing, by the internal model section, signal reproduction on the input quantity to be repetitively controlled; delaying, by the periodic delay module, the input quantity and outputting a periodically delayed quantity; and compensating the periodically delayed quantity to obtain a repetitively controlled quantity,
wherein the input quantity is subjected to a filter processing at a particular frequency by the particular frequency selection and passing module before being input into the internal model section or a forward path of the internal model section or the periodic delay module or the compensation module or before being output from the compensation module,
wherein the compensation module comprises a repetitive control gain module and a compensation filtering module connected in series, or the compensation module comprises a repetitive control gain module, a phase lead compensation module and a compensation filtering module connected in series.
8. A feedback control system, comprising a subtractor, a repetitive controller, a control object and an adder, wherein a positive input terminal of the subtractor is configured to receive a given input quantity and a negative input terminal of the subtractor is connected to an output terminal of the adder; an output terminal of the subtractor is connected to an input terminal of the repetitive controller; an output terminal of the repetitive controller is connected to the control object; an output terminal of the control object is connected to a first input terminal of the adder and a second input terminal of the adder is connected to a system disturbance quantity; and
wherein the repetitive controller comprises an internal model section, a periodic delay module and a compensation module, an input quantity is input into the repetitive controller via an input terminal of the internal model section; the internal model section; the periodic delay module and the compensation module are connected in series; and the repetitive controller further comprises a particular frequency selection and passing module configured to select and pass a signal at a particular frequency, and
wherein the particular frequency selection and passing module is connected in series with the internal model section, the periodic delay module and the compensation module or configured on a forward path of the internal model section,
wherein the compensation module comprises a repetitive control gain module and a compensation filtering module connected in series, or the compensation module comprises a repetitive control gain module, a phase lead compensation module and a compensation filtering module connected in series.