CONTROL OF HIGH PRECISION SERVO-SYSTEM USING LEARNING METHOD

高精度和良好的指令响应是旋转控制系统最重要的性能。在旋转控制系统中经常会出现与旋转角有关的扰动，从而引起转速波动，影响了旋转控制系统的精度，为了抑制这种扰动，人们提出了多种方法，如在时域内设计重复控制器。这些方法对指定的转速非常有效，但在一般情况下有效性并不显着。在本报告中，我们考虑了旋转控制系统中拒绝旋转角相关干扰的问题。根据这类扰动是转角的循环函数的特点，提出了一种新的方法。首先，设计了一个包含重复子控制器的二自由度控制器，以抑制干扰并获得对指令输入的满意响应。其次，在二自由度控制中加入另一个控制器，以减小系统输入输出特性的变化。最后，将该设计方法应用于一阶旋转系统。对所设计系统的仿真结果表明，该方法达到了预期的效果。

High precision and good command response are the most important performance of rotation control system. It is often the case where some rotational angle dependent disturbance occur and cause the rotational speed fluctuation which hinder us from improving the precision of rotational control systems.In order to attenuate this kind of disturbances, a number of methods, such as designing a repetitive controller in time domain, have been developed. These methods are, very effective on the specified rotational speed, but the effectiveness is not significant in general case.In this report, we consider the problem of rejecting the rotational angle dependent disturbances in rotation control systems. A new method is proposed by noticing the fact that this kind of disturbances is cyclic function of rotational angle. The design is carried out in the angle domain by sampling with a certain angle interval.First, a two-degree-of-freedom controller including a repetitive sub-controller is designed to reject such disturbances and obtain a satisfactory response to a command input. Secondly, another controller is installed inside the two-degree-of freedom control to reduce the variation of the input-output characteristics of the system. Finally, the design approach is applied to a first order rotation system. It has been shown by the results of the simulation of the designed system that the present method brings an expected effect.