Design of Multi-Periodic Repetitive Control System

多週期重複控制系統設計

姚武松(Wu-Sung Yao)

《中國機械工程學刊》 37卷6期 (2016/12) Pp. 615-624

摘要

Vibration disturbances with variable instantaneous frequencies can be found in many industrial applications. Therefore, rejecting vibration disturbances is a key point for accuracy machining. This paper presents a new method for synthesizing repetitive controllers capable of rejecting variable instantaneous frequencies disturbance. The instantaneous frequencies of the disturbance signal are always consisted of multiple-periods characteristics. Therefore, multiple-periodic repetitive control scheme is obtained and multiple-periods are estimated by Hilbert-Huang transform (HHT). HHT is a way to decompose a signal into so-called intrinsic mode functions, and obtain instantaneous frequency data. It is designed to work well for data that is non-stationary and non-linear. The decay rate of the rejecting error due to the multiple-periodic disturbance 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 disturbance rejecting control system, 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.

關鍵字

variabIe instantaneous frequencies ； repetitive controller ； Hilbert-Huang transform ； regeneration spectrum

並列摘要

本文提出抑制具可變瞬時頻率干擾訊號的重複控制器設計方法。由於干擾信號的瞬時頻率為多週期特性。希爾伯特-黃轉換( Hilbert-Huang transform, HHT) 可應用於解析非線性和非穩態的時間訊號，呈現訊號頻率隨時間之細微變化。因此本文結合重複控制系統及HHT訊號解析，以有效降低干擾訊號對於控制系統的影響。