Compensation Method And Application Of Spatial Repetitive Control

In order to suppress the periodic disturbance of position caused by the ripple torque in the electrical-mechanical servo system of permanent magnet synchronous motor(PMSM),this paper mainly studies the compensation method and application of spatial repetitive control.This paper analyzes the ripple torque in PMSM,and establishes the disturbance model of PMSM electrical-mechanical servo system.Then,this paper takes a certain turntable as the controlled object,extends the repetitive control to the spatial domain,and carries on two kinds of progressive compensation.Simulation verifies the validity of the method.The main work of this paper is as follows:Firstly,from the principle of generation,the cogging torque and electromagnetic torque in PMSM are analyzed theoretically,and the conclusion that the ripple torque has the spatial periodic characteristic is drawn.Then,the spatial periodic disturbance in PMSM electrical-mechanical servo system is verified by experiment.The spatial periodic characteristic of disturbance is verified by domain transformation,and the disturbance model used in simulation is established.Secondly,the basic principle of repetitive control with excellent periodic disturbance rejection is briefly introduced,two methods of stabilizing repetitive control are given.The second-order low-pass filter is selected as the stabilizing controller.The repetitive control is extended to the spatial domain by domain transformation,and the specific method of realizing the position delay by time sampling is given.The position domain stability controller is designed with the spatial domain repetitive controller.The validity of repetitive controller in spatial domain is verified by simulation.Thirdly,through sensitivity analysis and phase frequency characteristic analysis,the conclusion that the compensation point of repetitive control will drift due to the phase lag of the stable compensator is obtained.In this paper,a phase compensation method based on position sampling is proposed,and the adjustment and realization of compensation parameters are given.The stability of the system after compensation is analyzed.The effectiveness of the compensation method is verified by simulation.Finally,aiming at the limitation of repetitive control,the feed-forward control and the spatial domain repetitive control after compensation are combined to form a composite control structure.This paper introduces the principle of feed-forward control and presents a design method of feed-forward controller.The composite control system is applied to the model of a turntable,and the effectiveness of the composite control is verified by simulation.