Implementation and Design of Repetitive controller with Time Varying Periodic Signals

• Main Authors: Ge-Liang Hsu, 許閣良
• Other Authors: Mi-Ching Tsai
• Format: Others
• Language: zh-TW
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/22468989221102845467

碩士 === 國立成功大學 === 機械工程學系碩博士班 === 94 === Periodic reference signals are common in cam-follower systems, cam machining processes and the other corresponding tracking tasks. However, in many applications of cam machining to keep the removal rate constant for the cam finishing, the cam should be driven at a specified variable velocity. In the cases, the input signals are called the time-varying periodic signals, whose period defined in the angular position domain is constant but variable in the time domain. In practice, the conventional repetitive controller is not directly applicable for the time-varying periodic signals. Therefore, this research investigates a new repetitive control scheme for tracking time-varying periodic signals. The implementation and design of the plug-in type repetitive control system for the time-varying periodic signals is analyzed and derived to guarantee the stability and tracking performance. To illustrate the validity of the present method, two control strategies are considered, i.e., disturbance feed-forward control and disturbance rejection control. Experimental studies are conducted on a anti-vibration control system to verify the performances of the control strategies, where the real-time control algorithms are implemented using a floating-point digital signal processor (DSP). The results show that the derived repetitive controllers effectively eliminate the steady-state tracking errors within few cycles.