Design of a plug-in type repetitive controller for periodic inputs

Abstract

This paper presents some practical design criteria for a plug-in type repetitive controller to achieve good tracking performance within a specified frequency range. Upper and lower bounds of the repetitive controller parameters that ensure the stability and the desired performance are derived. It has been found that the decay rate of the tracking error due to periodic inputs is related to the peak value of a defined regeneration spectrum function. The control performance of the present method is evaluated in an experimental software cam system, which needs periodic linear motions, where the real-time control algorithms are implemented using a floating-point digital signal processor (DSP). Both computer simulation and experimental results are presented to illustrate the effectiveness of the proposed repetitive controller design.

Design and Implementation of Position-Based Repetitive Control Torque Observer for Cogging Torque Compensation in PMSM

“…RC is often used in a control loop to generate an internal model for the controller to cancel out the periodic error caused by periodic references or periodic disturbances. For a periodic signal with period T (sec), the corresponding plug-in type [11] RC is shown in Figure 5a, which can be simplified as Figure 5b. The learning filter Q(s) is a low-pass filter applied to avoid the infinite poles located on imaginary axis, which might cause a stability problem.…”

“…Sci. 2020, 10, x FOR PEER REVIEW 5 of 17 period T (sec), the corresponding plug-in type [11] RC is shown in Figure 5a, which can be simplified as Figure 5b. The learning filter ( ) Q s is a low-pass filter applied to avoid the infinite poles located on imaginary axis, which might cause a stability problem.…”

“…As shown in Figure 4, the position-based repetitive control torque observer structure (PBR-TOB) structure consists of a torque observer structure (TOB), which is a linear time-based observer (enclosed in blue dashed line), and a PBR, which is a nonlinear position-based delay function (enclosed in red dotted line). To implement the above design, the signal processing flow of the Digital Signal Processor (DSP) includes two sub-flows, as shown in Figure 8; one is a time-based signal process for TOB, and the other is a position-based procedure that is triggered by encoder pulse period T (sec), the corresponding plug-in type [11] RC is shown in Figure 5a, which can be simplified as Figure 5b. The learning filter ( ) Q s is a low-pass filter applied to avoid the infinite poles located on imaginary axis, which might cause a stability problem.…”

Analysis and design of the plug-in type repetitive control system based on steady-state residual convergence ratio

“…A secondorder filter and a linear phase-lead link are used as a dynamic compensator of the repetitive controller and several standards for the selection of their parameters are proposed, but the results of the physical prototype experiment focus more on the optimizing function of the dynamic compensator and lack the ability to derive control parameters for specific system indicators. 26 This article mainly focuses on a quantitative design of the proper control parameters to achieve the expected accuracy of the system. This article is organized as follows.…”

Dynamic Stiffness Analysis of Repetitive Control System

“…Repetitive control [1] is one of the specific control schemes in which its objective is to reduce the steady state errors with the periodic inputs. Figure 1 shows a repetitive control system where r is reference input, d is disturbance, y is system output, u is control output, e is error, and d T is period of the reference periodic signal.…”