一种用于超声波电机的zpet重复速度控制器

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-12-03 DOI:10.1109/ROBOT.2000.845301

H. Rodríguez, José Luis Pons Rovira, Ramón Ceres Ruíz

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引用次数: 10

摘要

研究了零相位误差跟踪补偿重复控制器在行波超声电机速度控制中的应用。提出的控制策略旨在减小超声波电机的典型速度波动，并补偿负载和温度的变化。重复控制器能够通过学习前一周期存储的误差值来改善动态系统在周期性扰动下的响应。由于期望重复控制器的稳定补偿器为零相位和完美的误差跟踪器，当伺服系统的闭环传递函数具有非最小零时，ZPET控制器是一个自然的选择。将所提出的控制器的性能与pi -重复控制器的性能进行了比较，并通过实验证明了其有效性。

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A ZPET-repetitive speed controller for ultrasonic motors

The application of a repetitive controller with zero phase error tracking compensation (ZPETC) to the speed control problem of travelling wave ultrasonic motors is investigated. The proposed control strategy is aimed at reducing the typical speed ripples of ultrasonic motors as well as compensating the load and temperature changes. Repetitive controllers are capable of improving the response of dynamical systems under periodic disturbances by learning from the stored error valves of preceding periods. Since it is desirable for the stabilizing compensator of repetitive controllers to be zero phase and perfect error tracker, the ZPET controller is a natural choice when the servo's closed-loop transfer function has non-minimum zeros. The performance of the proposed controller is compared against that of a PI-repetitive controller and its effectiveness experimentally demonstrated.

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来源期刊

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)

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