CN105159064A - Plug-in type rapid repetitive controller and control method - Google Patents

Abstract

The invention discloses a plug-in type rapid repetitive controller and a control method. The controller is composed of a feedforward gain module, a repetitive control gain module, a positive feedback gain module, two additive loops, an internal model constant module or an internal model low-pass filter, an internal model time-delay module, and a compensator module. The method is characterized in that a repetitive controller internal module is formed by a positive feedback path and the repetitive control gain module, the an internal model low-pass filter, the compensator module, and a feedforward gain channel are designed in the repetitive controller to form a new plug-in type rapid repetitive controller, thereby realizing error-free tracking of a reference signal or eliminating harmonic. According to the invention, the introduced feedforward gain module and the traditional repetitive controller are connected in parallel to form a novel plug-in type rapid repetitive controller that is capable of carrying out error-free tracking or elimination of all harmonics; and a defect of a slow dynamic response of the traditional repetitive controller can be overcome and the dynamic response speed of the whole controller is improved.

Description

A kind of quick repetitive controller of plug-in type and control method

Technical field

The present invention relates to the quick repetitive controller of a kind of plug-in type and control method, for harmonic signal DAZ gene or eliminate completely, belong to the repetitive controller field of Industry Control.

Background technology

Repetitive controller based on internal model principle can DAZ gene periodic reference signal or disturbance and studied personnel's extensive concern.General repetitive controller adopts the internal mold of the time delay process structure primitive period signal of a time delay primitive period T, and it is inserted in control loop, thus DAZ gene or elimination primitive period are signal or its each harmonic signal of T.But the dynamic response of repetitive controller is the difficult problem that researchist solves slowly always.The Compound Control Strategy be jointly made up of repetitive controller and other controllers at present solves a kind of slow method of Repetitive controller dynamic response, but this method not only will design the design that repetitive controller also will consider other controllers, and therefore method for designing is more complicated.The another kind of method improving repetitive controller dynamic be adopt amendment internal mold delay time for the harmonic wave DAZ gene of some specific times or the special repetitive controller of elimination, but this repetitive controller is just for fractional harmonic, can not work to all subharmonic, not there is versatility.Therefore, be necessary to invent a kind of design convenient and simple, dynamic is good, again can to the Repetitive Control Technique of all subharmonic DAZ gene or elimination.

Summary of the invention

The object of the invention is to propose the quick repetitive controller of a kind of plug-in type and control method, to eliminate the impact that in repetitive controller, negative proportional causes dynamic response slow, the control bandwidth sum dynamic responding speed of raising system, simultaneously simple than Composite Controller Design, be easy to realize.

For achieving the above object, the present invention is by the following technical solutions:

The quick repetitive controller of a kind of plug-in type, comprise feedforward gain module, Repetitive controller gain module, positive feedback gain module, two addition rings, interior modular constant module or internal mold low-pass filter, internal mold time delay module, compensator module, two addition rings are respectively the first addition ring and the second addition ring, wherein, the input end of input end as described repetitive controller of Repetitive controller gain module and the input end of feedforward gain module, the input end of the output termination first addition ring of Repetitive controller gain module, the input end of modular constant module or internal mold low-pass filter in the output termination repetitive controller of the first addition ring, the input end of the output termination internal mold time delay module of interior modular constant module or internal mold low-pass filter, the input end of the output termination compensator module of internal mold time delay module, the output terminal of internal mold time delay module connects the input end of the first addition ring simultaneously, the input end of the output termination second addition ring of compensator module, the input end of the output termination second addition ring of feedforward gain module, the output terminal of the second addition ring is as the output terminal of the quick repetitive controller of plug-in type.

Preferably, described compensator module comprises integer phase differentiation element or fractional phase differentiation element, and low-pass filter.

Preferably, described internal mold time delay module is digital delay module.

Preferably, described interior modular constant module be less than or equal to 1 constant, described internal mold low-pass filter is zero phase low-pass filter.

Preferably, described feedforward gain module is a proportionality constant, is equivalent to proportional component.

A control method for the quick repetitive controller of plug-in type, described method is as follows:

Feedforward gain module: the input quantity of repetitive controller is exported after feedforward gain module;

Repetitive controller gain module: the output quantity input quantity of repetitive controller being obtained Repetitive controller gain module through Repetitive controller gain, realizes the speed of convergence regulating error between described repetitive controller output signal and reference signal by regulating Repetitive controller gain;

First addition ring: the output quantity of Repetitive controller gain module is added with the output quantity of internal mold time delay module the output quantity obtaining addition ring;

Interior modular constant module or internal mold low-pass filter: the output quantity of the first addition ring obtains the input quantity of internal mold time delay module after interior modular constant module or low-pass filter;

Internal mold time delay module: the input quantity output quantity of interior modular constant module or low-pass filter being compensated after the time delay of one-period device;

Compensator module: the output quantity of mould time delay module is exported after low-pass filter and integer or fractional phase lead compensation, the parameter of low-pass filter is determined by the overtone order that will follow the tracks of or eliminate, and phase lead compensation module parameter is determined by the delayed phase situation of low-pass filter and controlled device;

Second addition ring: using the output as the quick repetitive controller of plug-in type after the output of the output of compensator module and feedforward gain link is added.

Preferably, described repetitive controller when interior modular constant be 1 or zero phase ground low-pass filter time, it can be decomposed into a negative proportional in frequency domain, an integration item and infinite multiple resonance item, and formula is described below:

$G_{rc}\left(s\right)=-\frac{k_r}{2}+\frac{k_r}{T_0}\frac{1}{s}+\frac{2k_r}{T_0}\underset{n=1}{\overset{\mathrm{\∞}}{\Σ}}\frac{s}{s^2+{\left({\mathrm{n\ω}}_0\right)}^2},$ Formula (1)

Wherein, k _rfor repeating ride gain, T ₀for expansion integration constant, ω ₀for fundamental frequency, n is overtone order.

Preferably, described feedforward gain module is a proportionality constant, and its gain is k _p(k _p>-k _r/ 2), this proportionality constant can reduce the negative negative interaction of proportional in dynamic response in formula (1), and form the quick repetitive controller of plug-in type after parallel connection, its frequency-domain expression is:

${G_{rc}}^{*}\left(s\right)=(k_p-\frac{k_r}{2})+\frac{k_r}{T_0}\frac{1}{s}+\frac{2k_r}{T_0}\underset{n=1}{\overset{\mathrm{\∞}}{\Σ}}\frac{s}{s^2+{\left({\mathrm{n\ω}}_0\right)}^2},$ Formula (2)

Wherein, formula (2) the right Section 1 is direct proportion item, and Section 2 is integration item, and Section 3 is multi-resonant item, and new repetitive controller is called the quick repetitive controller of plug-in type, and it is equivalent to a proportional integral multi-resonant controller.

Preferably, the advanced umber of beats of described phase lead compensation module is integer or mark, then described repetitive controller discrete transfer function is as follows:

$G_{rc}\left(z\right)=\frac{u\left(z\right)}{e\left(z\right)}=\frac{Q\left(z\right)\·z^{-N}\·k_r\·S\left(z\right)}{1-Q\left(z\right)\·z^{-N}}+k_p,$ Formula (3)

Wherein, u (z) is the output quantity of the quick repetitive controller of plug-in type, the input quantity (margin of error of control system) that e (z) is repetitive controller, z is the variable of the z conversion of discrete-time system, constant or the zero phase low-pass filter of Q (z) for being less than or equal to 1, N=f _s/ f ₀for integer, f _sfor sample frequency, f ₀for fundamental frequency.

Preferably, the whole control system of described repetitive controller from parameters input to reference to the discrete transfer function exported is:

$G\left(z\right)=\frac{y\left(z\right)}{y_r\left(z\right)}=\frac{\left(G_{rc}\right(z)+k_p)\·G_p\left(z\right)}{1+\left(G_{rc}\right(z)+k_p)\·G_p\left(z\right)}=\frac{\left(G_{rc}\right(z)+k_p)\·G_p\left(z\right)}{\[1+k_p\·G_p\left(z\right)\]\·\[1+\frac{G_{rc}\left(z\right)\·G_p\left(z\right)}{1+k_p\·G_p\left(z\right)}\]},$

If order $G_0\left(z\right)=\frac{1}{1+k_p\·G_p\left(z\right)},$ So,

$G\left(z\right)=\frac{\left(G_{rc}\right(z)+k_p)\·G_p\left(z\right)}{\[1+k_p\·G_p\left(z\right)\]\·\[1+\frac{G_{rc}\left(z\right)\·G_p\left(z\right)}{1+k_p\·G_p\left(z\right)}\]}=\frac{\left(G_{rc}\right(z)+k_p)\·G_p\left(z\right)}{\[1+k_p\·G_p\left(z\right)\]\·\[1+G_{rc}\left(z\right)\·G_0\left(z\right)\]}$

Therefore, system stability need meet following two conditions:

1. 1+k _pg _pz the root of ()=0 is in unit circle;

②|1+G _rc(z)·G ₀(z)|<0；

For 1., design feedforward gain module coefficient k can be passed through _pmeet; For 2., can derive further as follows:

$|1+G_{rc}\left(z\right)\&CenterDot;G_0\left(z\right)|=|1+\frac{Q\left(z\right)z^{-N}{k}_{r}S\left(z\right)}{1-Q\left(z\right)z^{-N}}\&CenterDot;G_0\left(z\right)|=|1-Q\left(z\right)z^{-N}+Q\left(z\right)z^{-N}{k}_{r}S\left(z\right)G_0\left(z\right)|<0,$

Meet above formula, a demand fulfillment is with lower inequality:

|Q(z)z ^-N(1-k _rS(z)G ₀(z))|<1，

Namely therefore, suitable repetitive controller k is selected _r, compensator S (z) and repetitive controller internal mold Q (z) can be system stability.

Wherein, for meeting 1., only need according to controlled device G _pz (), gets final product the k that simple designs goes out to meet system requirements _p, and need not in order to improve the feedback controller that system dynamic responding speed designs in composite controller, this is another large advantage of the quick repetitive controller of plug-in type.

In actual applications, numerous k is had _pwhen all meeting the demands 1., according to 1. selecting k _poccurrence, make G ₀z () is constant in the gain of low-frequency range is best, thus under the prerequisite of the system of guarantee dynamic responding speed, makes whole system have maximum stability margin.

Preferably, also comprise subtraction ring module, the 3rd addition ring module and controlled device module, its method is as follows:

Subtraction ring module: export to subtract each other obtain systematic error, as the input of the quick repetitive controller of plug-in type with reference to input and the 3rd addition ring;

3rd addition ring module: the output of controlled device module is added the output as whole system with the disturbing signal of system;

Controlled device module: using the input of the output of quick for plug-in type repetitive controller as controlled device, regulates the output of controlled device.

The invention has the beneficial effects as follows:

The invention has the advantages that the feedforward gain module of introducing is in parallel with traditional repetitive controller, eliminate the impact that in repetitive controller, negative proportional causes dynamic response slow, improve the control bandwidth sum dynamic responding speed of system, simultaneously simple than Composite Controller Design, be easy to realize.Be specially:

1, the quick repetitive controller of plug-in type proposed by the invention can carry out error free tracking or Eliminating disturbance for any rd harmonic signal, has versatility.

2, the feedforward gain module of the quick repetitive controller of plug-in type is under the prerequisite ensureing system stability, improves Systematical control bandwidth, increases dynamic responding speed.

3, while the quick repetitive controller of plug-in type remains conventional composite control method advantage, only need design feedforward path gain kp, decrease the design of feedback controller, greatly reduce the design complexities of control method.

Accompanying drawing explanation

Fig. 1 is the quick repetitive controller system construction drawing of plug-in type of the present invention.

Embodiment

Below in conjunction with accompanying drawing, the present invention is further described.

As shown in Figure 1, the quick repetitive controller of plug-in type of the present invention comprises feedforward gain module, Repetitive controller gain module, positive feedback gain module, two addition rings, interior modular constant module or internal mold low-pass filter, internal mold time delay module, compensator module, two addition rings are respectively the first addition ring and the second addition ring, wherein, the input end of input end as repetitive controller of Repetitive controller gain module and the input end of feedforward gain module, the input end of the output termination first addition ring of Repetitive controller gain module, the input end of modular constant module or internal mold low-pass filter in the output termination repetitive controller of the first addition ring, the input end of the output termination internal mold time delay module of interior modular constant module or internal mold low-pass filter, the input end of the output termination compensator module of internal mold time delay module, the output terminal of internal mold time delay module connects the input end of the first addition ring simultaneously, the input end of the output termination second addition ring of compensator module, the input end of the output termination second addition ring of feedforward gain module, the output terminal of the second addition ring is as the output terminal of the quick repetitive controller of plug-in type.

Compensator module comprises integer phase differentiation element or fractional phase differentiation element, and low-pass filter.

Internal mold time delay module is digital delay module.

Interior modular constant module be less than or equal to 1 constant, described internal mold low-pass filter is zero phase low-pass filter.

Feedforward gain module is a proportionality constant, is equivalent to proportional component.

The control method of the quick repetitive controller of above-mentioned plug-in type is:

Feedforward gain module: the input quantity of repetitive controller is exported after feedforward gain module;

Repetitive controller gain module: the output quantity input quantity of repetitive controller being obtained Repetitive controller gain module through Repetitive controller gain, realizes the speed of convergence regulating error between described repetitive controller output signal and reference signal by regulating Repetitive controller gain;

First addition ring: the output quantity of Repetitive controller gain module is added with the output quantity of internal mold time delay module the output quantity obtaining addition ring;

Interior modular constant module or internal mold low-pass filter: the output quantity of the first addition ring obtains the input quantity of internal mold time delay module after interior modular constant module or low-pass filter;

Internal mold time delay module: the input quantity output quantity of interior modular constant module or low-pass filter being compensated after the time delay of one-period device;

Compensator module: the output quantity of mould time delay module is exported after low-pass filter and integer or fractional phase lead compensation, the parameter of low-pass filter is determined by the overtone order that will follow the tracks of or eliminate, and phase lead compensation module parameter is determined by the delayed phase situation of low-pass filter and controlled device;

Second addition ring: using the output as the quick repetitive controller of plug-in type after the output of the output of compensator module and feedforward gain link is added.

Tradition repetitive controller is as shown in sign in Fig. 1, and it can be decomposed into a negative proportional in frequency domain, an integration item and infinite multiple resonance item, and formula is described below:

$G_{rc}\left(s\right)=-\frac{k_r}{2}+\frac{k_r}{T_0}\frac{1}{s}+\frac{2k_r}{T_0}\underset{n=1}{\overset{\mathrm{\&infin;}}{\&Sigma;}}\frac{s}{s^2+{\left({\mathrm{n\&omega;}}_0\right)}^2},$ Formula (1)

Wherein, k _rfor repeating ride gain, T ₀for expansion integration constant, ω ₀for fundamental frequency, n is overtone order.

Feedforward gain module is a proportionality constant, and its gain is k _p(k _p>-k _r/ 2), this proportionality constant can reduce the negative negative interaction of proportional in dynamic response in formula (1), and form the quick repetitive controller of plug-in type after parallel connection, its frequency-domain expression is:

${G_{rc}}^{*}\left(s\right)=(k_p-\frac{k_r}{2})+\frac{k_r}{T_0}\frac{1}{s}+\frac{2k_r}{T_0}\underset{n=1}{\overset{\mathrm{\&infin;}}{\&Sigma;}}\frac{s}{s^2+{\left({\mathrm{n\&omega;}}_0\right)}^2},$ Formula (2)

Wherein, formula (2) the right Section 1 is direct proportion item, and Section 2 is integration item, and Section 3 is multi-resonant item, and new repetitive controller becomes the quick repetitive controller of plug-in type, and it is equivalent to a proportional integral multi-resonant controller.

The quick repetitive controller of plug-in type is as G in Fig. 1 _rcz, shown in (), its discrete transfer function is as follows:

$G_{rc}\left(z\right)=\frac{u\left(z\right)}{e\left(z\right)}=\frac{Q\left(z\right)\&CenterDot;z^{-N}\&CenterDot;k_r\&CenterDot;S\left(z\right)}{1-Q\left(z\right)\&CenterDot;z^{-N}}+k_p,$ Formula (3)

Wherein, u (z) is the output quantity of the quick repetitive controller of plug-in type, the input quantity (margin of error of control system) that e (z) is repetitive controller, z is the variable of the z conversion of discrete-time system, constant or the zero phase low-pass filter of Q (z) for being less than or equal to 1, N=f _s/ f ₀for integer, f _sfor sample frequency, f ₀for fundamental frequency.

When in phase lead compensation module in the quick repetitive controller of plug-in type shown in Fig. 1 of the present invention, advanced umber of beats is mark, its implementation postpones based on fractional phase, fractional phase is postponed the lag operator z in realization link ^-1replace with advanced operator z, mark differentiation element can be obtained, so both can realize mark differentiation element, perform rapidly simple.This is of the present invention one large advantage.

The present invention's whole control system as shown in Figure 1 from parameters input to reference to the discrete transfer function exported is:

$G\left(z\right)=\frac{y\left(z\right)}{y_r\left(z\right)}=\frac{\left(G_{rc}\right(z)+k_p)\&CenterDot;G_p\left(z\right)}{1+\left(G_{rc}\right(z)+k_p)\&CenterDot;G_p\left(z\right)}=\frac{\left(G_{rc}\right(z)+k_p)\&CenterDot;G_p\left(z\right)}{\&lsqb;1+k_p\&CenterDot;G_p\left(z\right)\&rsqb;\&CenterDot;\&lsqb;1+\frac{G_{rc}\left(z\right)\&CenterDot;G_p\left(z\right)}{1+k_p\&CenterDot;G_p\left(z\right)}\&rsqb;},$

If order $G_0\left(z\right)=\frac{1}{1+k_p\&CenterDot;G_p\left(z\right)},$ So,

$G\left(z\right)=\frac{\left(G_{rc}\right(z)+k_p)\&CenterDot;G_p\left(z\right)}{\&lsqb;1+k_p\&CenterDot;G_p\left(z\right)\&rsqb;\&CenterDot;\&lsqb;1+\frac{G_{rc}\left(z\right)\&CenterDot;G_p\left(z\right)}{1+k_p\&CenterDot;G_p\left(z\right)}\&rsqb;}=\frac{\left(G_{rc}\right(z)+k_p)\&CenterDot;G_p\left(z\right)}{\&lsqb;1+k_p\&CenterDot;G_p\left(z\right)\&rsqb;\&CenterDot;\&lsqb;1+G_{rc}\left(z\right)\&CenterDot;G_0\left(z\right)\&rsqb;}$

Therefore, system stability need meet following two conditions:

1. 1+k _pg _pz the root of ()=0 is in unit circle;

②|1+G _rc(z)·G ₀(z)|<0；

For 1., design feedforward gain module coefficient k can be passed through _pmeet; For 2., can derive further as follows:

$|1+G_{rc}\left(z\right)\&CenterDot;G_0\left(z\right)|=|1+\frac{Q\left(z\right)z^{-N}{k}_{r}S\left(z\right)}{1-Q\left(z\right)z^{-N}}\&CenterDot;G_0\left(z\right)|=|1-Q\left(z\right)z^{-N}+Q\left(z\right)z^{-N}{k}_{r}S\left(z\right)G_0\left(z\right)|<0,$

Meet above formula, a demand fulfillment is with lower inequality:

|Q(z)z ^-N(1-k _rS(z)G ₀(z))|<1，

Namely therefore, suitable repetitive controller k is selected _r, compensator S (z) and repetitive controller internal mold Q (z) can be system stability.

Wherein, for meeting 1., only need according to controlled device G _pz (), gets final product the k that simple designs goes out to meet system requirements _p, and need not in order to improve the feedback controller that system dynamic responding speed designs in composite controller, this is another large advantage of the quick repetitive controller of plug-in type.

In actual applications, numerous k is had _pwhen all meeting the demands 1., according to 1. selecting k _poccurrence, make G ₀z () is constant in the gain of low-frequency range is best, thus under the prerequisite of the system of guarantee dynamic responding speed, makes whole system have maximum stability margin.

The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims (11)

1. the quick repetitive controller of plug-in type, it is characterized in that: comprise feedforward gain module, Repetitive controller gain module, positive feedback gain module, two addition rings, interior modular constant module or internal mold low-pass filter, internal mold time delay module, compensator module, two addition rings are respectively the first addition ring and the second addition ring, wherein, the input end of input end as described repetitive controller of Repetitive controller gain module and the input end of feedforward gain module, the input end of the output termination first addition ring of Repetitive controller gain module, the input end of modular constant module or internal mold low-pass filter in the output termination repetitive controller of the first addition ring, the input end of the output termination internal mold time delay module of interior modular constant module or internal mold low-pass filter, the input end of the output termination compensator module of internal mold time delay module, the output terminal of internal mold time delay module connects the input end of the first addition ring simultaneously, the input end of the output termination second addition ring of compensator module, the input end of the output termination second addition ring of feedforward gain module, the output terminal of the second addition ring is as the output terminal of the quick repetitive controller of plug-in type.

2. the quick repetitive controller of plug-in type according to claim 1, is characterized in that: described compensator module comprises integer phase differentiation element or fractional phase differentiation element, and low-pass filter.

3. the quick repetitive controller of plug-in type according to claim 1, is characterized in that: described internal mold time delay module is digital delay module.

4. the quick repetitive controller of plug-in type according to claim 1, is characterized in that: described interior modular constant module be less than or equal to 1 constant, described internal mold low-pass filter is zero phase low-pass filter.

5. the quick repetitive controller of plug-in type according to claim 1, is characterized in that: described feedforward gain module is a proportionality constant, is equivalent to proportional component.

6., based on a control method for the arbitrary described quick repetitive controller of plug-in type of claim 1-5, it is characterized in that: described method is as follows:

Feedforward gain module: the input quantity of repetitive controller is exported after feedforward gain module;

Repetitive controller gain module: the output quantity input quantity of repetitive controller being obtained Repetitive controller gain module through Repetitive controller gain, realizes the speed of convergence regulating error between described repetitive controller output signal and reference signal by regulating Repetitive controller gain;

First addition ring: the output quantity of Repetitive controller gain module is added with the output quantity of internal mold time delay module the output quantity obtaining addition ring;

Interior modular constant module or internal mold low-pass filter: the output quantity of the first addition ring obtains the input quantity of internal mold time delay module after interior modular constant module or low-pass filter;

Internal mold time delay module: the input quantity output quantity of interior modular constant module or low-pass filter being compensated after the time delay of one-period device;

Compensator module: the output quantity of mould time delay module is exported after low-pass filter and integer or fractional phase lead compensation, the parameter of low-pass filter is determined by the overtone order that will follow the tracks of or eliminate, and phase lead compensation module parameter is determined by the delayed phase situation of low-pass filter and controlled device;

Second addition ring: using the output as the quick repetitive controller of plug-in type after the output of the output of compensator module and feedforward gain link is added.

7. the control method of the quick repetitive controller of plug-in type according to claim 6, it is characterized in that: described repetitive controller when interior modular constant be 1 or zero phase ground low-pass filter time, a negative proportional can be decomposed in frequency domain, an integration item and infinite multiple resonance item, formula is described below:

$G_{rc}\left(s\right)=-\frac{k_r}{2}+\frac{k_r}{T_0}\frac{1}{s}+\frac{2k_r}{T_0}\underset{n=1}{\overset{\mathrm{\&infin;}}{\&Sigma;}}\frac{s}{s^2+{\left({\mathrm{n\&omega;}}_0\right)}^2},$ Formula (1)

Wherein, k _rfor repeating ride gain, T ₀for expansion integration constant, ω ₀for fundamental frequency, n is overtone order.

8. the control method of the quick repetitive controller of plug-in type according to claim 6, is characterized in that: described feedforward gain module is a proportionality constant, and its gain is k _p(k _p>-k _r/ 2), this proportionality constant can reduce the negative negative interaction of proportional in dynamic response in formula (1), and form the quick repetitive controller of plug-in type after parallel connection, its frequency-domain expression is:

${G_{rc}}^{*}\left(s\right)=(k_p-\frac{k_r}{2})+\frac{k_r}{T_0}\frac{1}{s}+\frac{2k_r}{T_0}\underset{n=1}{\overset{\mathrm{\&infin;}}{\&Sigma;}}\frac{s}{s^2+{\left({\mathrm{n\&omega;}}_0\right)}^2},$ Formula (2)

Wherein, in above-mentioned formula (2), the right Section 1 is direct proportion item, and Section 2 is integration item, and Section 3 is multi-resonant item, and new repetitive controller is called the quick repetitive controller of plug-in type, and it is equivalent to a proportional integral multi-resonant controller.

9. the control method of the quick repetitive controller of plug-in type according to claim 6, is characterized in that: the advanced umber of beats of described phase lead compensation module is integer or mark, then described repetitive controller discrete transfer function is as follows:

$G_{rc}\left(z\right)=\frac{u\left(z\right)}{e\left(z\right)}=\frac{Q\left(z\right)\&CenterDot;z^{-N}\&CenterDot;k_r\&CenterDot;S\left(z\right)}{1-Q\left(z\right)\&CenterDot;z^{-N}}+k_p,$ Formula (3)

Wherein, u (z) is the output quantity of the quick repetitive controller of plug-in type, the input quantity that e (z) is repetitive controller, the i.e. margin of error of control system, z is the variable of the z conversion of discrete-time system, constant or the zero phase low-pass filter of Q (z) for being less than or equal to 1, N=f _s/ f ₀for integer, f _sfor sample frequency, f ₀for fundamental frequency.

10. the control method of the quick repetitive controller of plug-in type according to claim 6, is characterized in that: the whole control system of described repetitive controller from parameters input to reference to the discrete transfer function exported is:

$G\left(z\right)=\frac{\left(G_{rc}\right(z)+k_p)\&CenterDot;G_p\left(z\right)}{\&lsqb;1+k_p\&CenterDot;G_p\left(z\right)\&rsqb;\&CenterDot;\&lsqb;1+\frac{G_{rc}\left(z\right)\&CenterDot;G_p\left(z\right)}{1+k_p\&CenterDot;G_p\left(z\right)}\&rsqb;}=\frac{\left(G_{rc}\right(z)+k_p)\&CenterDot;G_p\left(z\right)}{\&lsqb;1+k_p\&CenterDot;G_p\left(z\right)\&rsqb;\&CenterDot;\&lsqb;1+G_{rc}\left(z\right)\&CenterDot;G_0\left(z\right)\&rsqb;}$

System stability need meet following two conditions:

1. 1+k _pg _pz the root of ()=0 is in unit circle;

②|1+G _rc(z)·G ₀(z)|<0；

For 1., by design feedforward gain module coefficient k _pmeet;

For 2., demand fulfillment is with lower inequality:

| Q (z) z ^-N(1-k _rs (z) G ₀(z)) | <1, namely $|1-k_{r}S\left(z\right)G_0\left(z\right)|<\frac{1}{Q\left(z\right)},$

Therefore, suitable repetitive controller k is selected _r, compensator S (z) and repetitive controller internal mold Q (z) can make system stability;

Wherein, for meeting 1., only need according to controlled device G _pz (), can design the k meeting system requirements _p;

There is numerous k _pwhen all meeting the demands 1., then according to 1. selecting k _poccurrence, make G ₀z () is constant in the gain of low-frequency range is best.

The control method of the quick repetitive controller of 11. plug-in type according to claim 6, is characterized in that: also comprise subtraction ring module, the 3rd addition ring module and controlled device module; Its method is as follows:

Subtraction ring module: export to subtract each other obtain systematic error, as the input of the quick repetitive controller of plug-in type with reference to input and the 3rd addition ring;

3rd addition ring module: the output of controlled device module is added the output as whole system with the disturbing signal of system;

Controlled device module: using the input of the output of quick for plug-in type repetitive controller as controlled device, regulates the output of controlled device.