多周期重复控制在时延框架中的设计及其在主动隔振系统中的应用
Multi-Period Repetitive Control Design in a Time Delay Framework with Application to an Active Vibration Isolation System
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中文总结 AI 辅助
针对多周期重复控制在非重复频率处产生放大并导致极点接近虚轴的问题，提出一种消除交互的MPRC结构，可等价为扰动观测器，并在主动隔振系统上验证了优于现有方案且能抑制未知时变周期扰动。
中文摘要 AI 辅助
多周期重复控制（MPRC）因其闭环灵敏度函数中多周期重复控制的相乘作用，可能导致非重复频率处的放大，进而使系统极点接近虚轴。我们提出了一种消除此类交互作用的MPRC结构。该方案可等价转换为扰动观测器，以增强对频率不确定性的鲁棒性。我们推导了灵敏度函数的上界，该上界可在重复或非重复频率处进行优化。在主动隔振系统上的实验结果表明，该方案优于现有的鲁棒MPRC方案，并能有效抑制未知时变周期扰动。
英文摘要
Multi-period Repetitive Control (MPRC) can lead to amplification at non-repetitive frequencies due to the multiplication of multi-period repetitive control in their closed-loop sensitivity functions, which leads to closed-to imaginary poles. We propose a MPRC structure that eliminates such interaction. The scheme can be equivalently converted into a disturbance observer to improve robustness to frequency uncertainties. We derive an upper bound on the sensitivity function that can be optimized at either repetitive or non-repetitive frequencies. Experimental results on an active vibration isolation system show superior performance over existing robust MPRC schemes, and the capability to suppress unknown time-varying periodic disturbances.
发表机构
- University of Manchester（曼彻斯特大学）
- Twente University（特温特大学）
机构由 AI 辅助整理，请以论文原文为准。
