Customized harmonic repetitive controller and control method

Patent metadata

Field	Value
Publication number	US-11199820-B2
Application number	US-202117308110-A
Country	US
Kind code	B2
Filing date	May 5, 2021
Priority date	Jan 19, 2020
Publication date	Dec 14, 2021
Grant date	Dec 14, 2021

Abstract

The disclosure discloses a customized harmonic repetitive controller and a control method, and belongs to the field of repetitive controllers for industrial control. In the repetitive controller, a periodic signal generator formed by three time-delay modules and a positive feedforward gain module is taken as a whole to form a forward path, and an internal model of a periodic signal is constructed in the form of outputting positive feedback. Therefore, the structure of the repetitive controller conforms to a standard internal model construction method, the repetitive controller has an order expanding capability, the flexibility of the controller is greatly improved, the disturbance canceling speed of the controller is increased, and the repetitive controller is simple in structure and convenient to design. An h-order nk±m-order-harmonic repetitive controller (h≥2) obtained by further expansion covers various existing high-order repetitive controllers, and a unified form is provided to make the repetitive controller universal.

First claim

What is claimed is:

1. A repetitive controller, comprising: a repetitive control gain module, a positive feedforward gain module, a subtraction loop, a first addition loop, a second addition loop, a first time-delay module, a second time-delay module and a third time-delay module;
wherein the first time-delay module, the second time-delay module and the third time-delay module are identical;
wherein:
an input end of the repetitive control gain module receives an input into the repetitive controller,
an output end of the repetitive control gain module connected to a first input end of the first addition loop,
an output end of the first addition loop is connected to a first input end of the second addition loop,
an output end of the second addition loop is connected to an input end of the positive feedforward gain module and an input end of the first time-delay module,
an output end of the positive feedforward gain module is connected to a positive input end of the subtraction loop,
an output end of the first time-delay module is connected to a negative input end of the subtraction loop, an output end of the subtraction loop is connected to an input end of the second time-delay module,
an output end of the second time-delay module is connected to a second input end of the first addition loop,
an output from the repetitive controller is received from the output end of the second time-delay module,
the output end of the positive feedforward gain module is also connected to an input end of the third time-delay module, and
an output end of the third time-delay module is connected to a second input end of the second addition loop.

2. The repetitive controller according to claim 1 , further comprising:
a first low pass filter, a second low pass filter, a third low pass filter, and a phase lead compensation module;
wherein the output end of the first time-delay module is connected to the negative input end of the subtraction loop through the first low pass filter,
the output end of the second time-delay module is connected to the second input end of the first addition loop through the second low pass filter,
the output from the repetitive controller is received from the output end of the second time-delay module through the second low pass filter and then through the phase lead compensation module,
the output end of the positive feedforward gain module is connected to the input end of the third time-delay module through the third low pass filter.

3. A method of controlling the repetitive controller of claim 1 , comprising:
using the repetitive control gain module to perform repetitive control gain on an input quantity of the repetitive controller to obtain an output quantity of the repetitive control gain module;
using the positive feedforward gain module to perform positive feedforward gain on an output quantity of the second addition loop to obtain an output quantity of the positive feedforward gain module;
using the first addition loop to add the output quantity of the repetitive control gain module and an output quantity of the subtraction loop output delayed by the second time-delay module in a delay manner to obtain an output quantity of the first addition loop;
using the second addition loop to add the output quantity of the first addition loop and the output quantity of the positive feedforward gain module output delayed by the third time-delay module to obtain an output quantity of the second addition loop;
using the subtraction loop to subtract the output quantity of the positive feedforward gain module from the output quantity of the second addition loop output delayed by the first time-delay module to obtain the output quantity of the subtraction loop;
using the first time-delay module to delay the output quantity of the second addition loop;
using the second time-delay module to delay the output quantity of the subtraction loop; and
using the third time-delay module to delay the output quantity of the positive feedforward gain module.

4. The method according to claim 3 , further comprising:
adjusting the repetitive control gain to adjust a speed of the repetitive controller to track or cancel specific harmonics.

5. The method according to claim 3 , further comprising:
determining parameters of the positive feedforward gain module according to an order of harmonics to be tracked or canceled.

6. The method according to claim 3 , wherein the first, second or third time-delay module is an analog or digital time-delay module, and a transfer function of the repetitive controller is:

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Assignees

• Univ Jiangnan

Inventors

• Lu Wenzhou
• Chen Haiying
• Wang Wei

Classifications

• Y02E40/40

  Arrangements for reducing harmonics · CPC title

• G05B13/045 Primary

  using a perturbation signal · CPC title

• H02M1/00

  Details of apparatus for conversion · CPC title

• G05B11/36 Primary

  with provision for obtaining particular characteristics, e.g. proportional, integral, differential · CPC title

• G05B13/042 Primary

  in which a parameter or coefficient is automatically adjusted to optimise the performance · CPC title