低取樣頻率控制系統的振盪抑制

This paper presents hunting suppression for a control system with low sampling rate. In high-precision motion digital controllers, such as servo motor drivers, PLC-based controllers and PC-based motion control cards, the sampling rates may be fixed and sampling frequency may be as low as 100 Hz. The closed loop control system may become unstable and cause hunting if a low sampling rate is set with certain controller parameters. The proposed hunting suppression scheme is simple and ensures that the closed loop system remains stable at a fixed low sampling rate. The effectiveness of the proposed control scheme is verified by simulation a closed loop system with low sampling rate.