毕业设计（论文）-伺服系统重复轨迹的高精度控制.docVIP

摘 要 研究了重复控制系统的设计问题。介绍了重复控制系统的基本原理，对控制器结构、系统稳定性和其它性能进行了详细的分析和讨论。在控制系统实践中，经常需要对仅周期已知的未知周期性外激励信号进行高精度跟踪或抑制，重复控制方法是解决这类控制问题的有效方法。该方法基于内模原理，通过在控制器中引入外激励周期信号的发生模型，实现了周期参考或干扰信号的零稳态误差控制,经过几个周期的重复控制以后可以大大提高系统的跟踪精度，改善系统品质。由于控制器具有结构简单、稳态控制精度高、系统性能对参数变化不敏感等优点，重复控制自提出以来受到很大关注，目前己经广泛应用于各种具有重复性质的系统中。本文根据重复控制理论的研究现状，对伺服系统重复轨迹高精度控制的问题进行了深入的研究，以为实际工程问题寻求切实可行的解决方案。仿真实例结果 表明，采用重复控制补偿的PID控制不仅可以显著提高系统的跟踪精度，还可以改善系统的鲁棒性。 关键词：重复控制，内模原理，周期性扰动，跟踪精度，PID High Precision Control for Repetitive Track in Servo System ABSTRACT The design problem of repetitive control system is studied. The basic theory of the repetitive control is introduced. Then based on the detailed analysis and discussion of the controller structure, stability and other performances of continuous time repetitive control systems. In control system practice, high accuracy tracking or rejection of unknown periodic exogenous signals with a known period is frequently needed. The repetitive control(RC) is an effective approach for such control system.Based on the internal model principle,repetitive control can achieve zero steady-state error by including a periodic signal generator in the control loop, the tracking accuracy of the system can be inproved sgnificantly and quality of the system also be improved after several cycle of repetitive control. Because of its simple structure high steady-state control accuracy and insensitiveness to parameter variation, the repetitive control has drawn much attention since its introduction to the control community. Currently it has been widely used in various control systems. Based on the current research developments on the RC theory, problem of the high precision control for repetitive track in servo system is further studied to provide effective and feasible solutions to some control problems encountered in practical engineering. Simulation results show that with the PID control of repetiti