摘要
通过在基本重复控制系统中引入低通滤波器，同时引入另外两个前向系数，改善了闭环系统的稳定性和进一步提高了系统响应的跟踪精度．采用数字化技术，将这种改进的重复控制系统实施于一个实际的机电装置上，展现出良好的跟踪性能和抗干扰的鲁棒性．
A modified repetitive control system is proposed and applied to a mechanic system in the motion control with nonlinear friction effects. A lowpass filter in the basic repetitive control system is introduced at the same time as two other forward gains to improve the tracking accuracy of the system's response. The strategy proposed is applied to an actual mechanic device by the digital technology good tracking property and robustness of rejecting disturbances.
基金
中科院院长基金资助
关键词
稳态误差
延迟环节
稳定性
重复控制系统
repetitive control, steadstate error, delay element, stability, nonlinear friction
