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    • 摘要: 扰动抑制尤其是超过闭环带宽外的高频扰动抑制是实现倾斜校正系统高精度稳定控制的核心。重复控制具有周期性的轨迹跟踪和扰动抑制的良好性能,应用于高精度系统的稳定控制。对倾斜校正系统的高频扰动抑制问题进行分析,并研究基于重复控制的高频扰动抑制性能。针对传统重复控制器存在的固有频率漂移和水床放大问题,研究设计一种基于Youla参数化的梳状重复控制器来抑制超过闭环带宽外的高频扰动。针对重复控制阶次取整数时仅对特定频率点有效,尤其在大部分高频区域会因扰动波动和不确定导致控制器失效的问题,优化设计一种全通型的分数阶延时滤波器用在倾斜校正系统中抑制可至Nyquist频率的任意频率点的高频扰动。最后,针对难以抑制的非周期结构振动抑制问题,设计并行式重复控制方案并讨论该方案在应对多个非周期扰动抑制时的鲁棒稳定性和有效性。

       

      Abstract: Disturbance suppression, especially high-frequency disturbance suppression beyond the closed-loop bandwidth, is the core of realizing high-precision stability control for tip-tilt correction systems. Repetitive control has good performance of periodic trajectory tracking and disturbance suppression, which is applied to the stability control of high-precision systems. The high-frequency disturbance suppression problem of the tip-tilt correction system is analyzed in this paper, and the performance of high-frequency disturbance suppression based on repetitive control is summarized. To solve the problems of natural frequency drift and waterbed amplification in traditional repetitive controllers, a comb-like repetitive controller based on Youla parameterization is designed to suppress high-frequency disturbances beyond the closed-loop bandwidth. In order to solve the problem that the integer-order repetitive control is only effective for specific frequency points, especially in most high frequency regions, the controller will fail due to disturbance fluctuations and uncertainty, an all-pass frit-order delay filter is optimized to suppress the high frequency disturbance at any frequency point up to Nyquist frequency in the tip-tilt correction system. Finally, a parallel repetitive control scheme is designed to suppress the vibration of aperiodic structures which is difficult to suppress, and its robust stability and effectiveness are discussed.