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来源：百度知道 编辑：UC知道 时间：2024/05/23 20:15:28
SUMMARY OF THE INVENTION
An object of the present invention is to provide a discrete-type repetitive control method and an apparatus therefor, which enable stable repetitive control even if a state variable of a controlled object is not observable, and which have an excellent response to a cyclic target input and excellent flexibility to a variation in the cycle period of a target input.
To achieve the aforementioned object, according to one aspect of the present invention, a discrete-type repetitive control method comprises the steps of: (a) periodically applying, to each of time delay elements which are equal to or greater in number than a value obtained by dividing a cycle period of a cyclic target input by a cycle period of sampling a deviation between an output of a controlled object and the cyclic target input, a sum of a product of the deviation periodically sampled and a first gain associated with the time delay element, a product of an input to the cont
An object of the present invention is to provide a discrete-type repetitive control method and an apparatus therefor, which enable stable repetitive control even if a state variable of a controlled object is not observable, and which have an excellent response to a cyclic target input and excellent flexibility to a variation in the cycle period of a target input.
To achieve the aforementioned object, according to one aspect of the present invention, a discrete-type repetitive control method comprises the steps of: (a) periodically applying, to each of time delay elements which are equal to or greater in number than a value obtained by dividing a cycle period of a cyclic target input by a cycle period of sampling a deviation between an output of a controlled object and the cyclic target input, a sum of a product of the deviation periodically sampled and a first gain associated with the time delay element, a product of an input to the cont
综述发明本发明的对象是提供一个离散式重复控制方法及 器具何在,即使重复控制使稳定状态变对象不是一个看得见、 而其中有一个很好的回应一环一靶投入和出色的弹性变化周期 期目标的投入. 为实现上述目标,根据本发明的一个方面, 离散式重复控制方法步骤包括:(一)定期运用、 每个元素都时延等于或超过了价值数除以所得 一期循环周期的循环期指标投入与产出的采样偏差 控制目标和对象循环投入 一笔产品的定期抽样误差和增益与延时第一要素 产品投入受控对象和第二单元增益与延时、 一、产值前延时单元; (二)运用利率、控制的对象 一笔定期取样偏差的产物,第三收获 一、输出延时单元弃置在一边的对象. 据本发明的另一个方面,一个离散式重复控制单元包括: (一)有延时分子人数等于或超过所得的价值除以一个周期 一期投入的一个周期循环的目标一期抽样偏差输出一个受控 面向对象的循环投入,延时分子正在互相串联; (二)获得第一要素每一项投入就弃置一边,相应的时间延迟因素之一; (三)每一次加法插话分子之间的一个相应要素和相应延时之一 赢得第一要素; (四)获得第二各要素之间的投入一边插话的对象之一,并有相应的 加法第一要素; (五)第二单元加法一边插话投入之间的对象和内容上延时 连通; (六)第三单元增益弃置一边就投入第二单元加法.