New Repetitive Control With Improved Steady-State Performance and Accelerated Transient

被引:114
作者
Chen, Xu [1 ]
Tomizuka, Masayoshi [1 ]
机构
[1] Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94720 USA
关键词
Digital control; disturbance observer (DOB); internal model principle; repetitive control (RC); transient control; DISTURBANCE OBSERVER; SERVO SYSTEM; DESIGN;
D O I
10.1109/TCST.2013.2253102
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In repetitive control (RC), the enhanced servo performance at the fundamental frequency and its higher order harmonics is usually followed by undesired error amplifications at other frequencies. In this paper, we discuss a new structural configuration of the internal model in RC, wherein designers have more flexibility in the repetitive loop-shaping design, and the amplification of nonrepetitive errors can be largely reduced. Compared to conventional RC, the proposed scheme is especially advantageous when the repetitive task is subject to large amounts of nonperiodic disturbances. An additional benefit is that the transient response of this plug-in RC can be easily controlled, leading to an accelerated transient with reduced overshoots. Verification of the algorithm is provided by simulation of a benchmark regulation problem in hard disk drives, and by tracking-control experiments on a laboratory testbed of an industrial wafer scanner.
引用
收藏
页码:664 / 675
页数:12
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