Perfect tracking control based on multirate feedforward control with generalized sampling periods
Perfect tracking control based on multirate feedforward control with generalized sampling periods
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DOI：
10.1109/41.925591
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发表时间：
2001-06-01
影响因子：
7.7
通讯作者：
Kawamura, A
中科院分区：
文献类型：
--
作者：
Fujimoto, H;Hori, Y;Kawamura, A
在本文中，提出了一种基于多发馈电场控制的新颖完美跟踪控制方法。提出的方法的优点是：1）提出的多向前馈控制器消除了设计离散时间逆系统时臭名昭著的零问题； 2）植物的状态在每个采样点的参考点输入时与所需的轨迹匹配； 3）提出的控制器完全独立于反馈特征。因此，强大的反馈控制器确保了高度鲁棒的性能。此外，通过概括植物产量的采样期与植物输入的控制期之间的关系，可以将所提出的方法应用于这些时期的各种系统NIFH硬件限制，从而导致更高的性能。接下来，显示出所提出的完美跟踪控制器的结构是使用DE伺服电机的位置控制的非常简单明了的说明示例，并且模拟和实验证明了这种方法的优势。
In this paper, a novel perfect tracking control method based on multirate feedforward control is proposed. The advantages of the proposed method are that: 1) the proposed multirate feedforward controller eliminates the notorious unstable zero problem in designing the discrete-time inverse system; 2) the states of the plant match the desired trajectories at every sampling point of reference input; and 3) the proposed controller is completely independent of the feedback characteristics. Thus, highly robust performance is assured by the robust feedback controller. Moreover, by generalizing the relationship between the sampling period of plant output and the control period of plant input, the proposed method can be applied to various systems nifh hardware restrictions of these periods, which leads to higher performance. Next, it is shown that the structure of the proposed perfect tracking controller is very simple and clear Illustrative examples of position control using a de servomotor are presented, and simulations and experiments demonstrate the advantages of this approach.