文章基本信息

标题：Discrete-Time Repetitive Control for Multi-Harmonic Reference Trajectories with Arbitrary Frequency ⁎
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作者：L. Marko ; M. Saxinger ; M. Bittner 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：1646-1651
DOI：10.1016/j.ifacol.2020.12.2221
语种：English
出版社：Elsevier
摘要：AbstractIn this work, a repetitive control approach for the tracking of harmonic reference trajectories in the presence of actuator backlash and sticking friction is presented. A spatial Fourier series formulation is utilized to obtain a learning law which is independent of the desired reference frequency. Subsequently, discrete-time averaging is employed, which results in a simple convergence criterion for the closed-loop system. Furthermore, all updates are calculated in a time-recursive manner, which avoids the necessity of large data windows and allows for a discrete-time implementation with a uniform sampling time. Finally, experimental results of a fully assembled spindle drive are presented. This demonstrates the effectiveness of the proposed control scheme as well as its suitability as an add-on strategy in existing positioning devices.
关键词：KeywordsBacklashrepetitive controlFourier seriesdiscrete-time implementationaveraging analysis