VECTOR REPETITIVE CONTROLLER FOR COMPENSATION OF HARMONICS OF ORDER NK + M

摘要

a repetitive vector-based control scheme with positive feedback, which allocates poles over the unit circle and zeroes at the origin of the z-plane. this repetitive controller has the advantage of selecting harmonic components from the n · k + m family, which, under certain conditions, may allow fewer samples and better performance of the control system. the complete structure has a gain block after input, a repetitive core composed of a delay block and an angular displacement block in series with a low pass fir block of symmetric coefficients, all in the positive feedback loop, and connected to the output by a phase advance type prediction block. these items restrict the performance range of the repetitive controller, but aim at increasing the relative stability of the control.