Accurate Cycle Aligned Repetitive Control for the Rejection of Spatially Cyclic Disturbances

The spatial disturbance, which depends on position rather than time, is widespread in rotary machines. In this article, an improved control method named accurate cycle aligned repetitive control (ACARC) is proposed to deal with its suppression. In the ACARC, the data-storage technique is used to realize the spatial internal model and a design requirement is presented for the rejection of spatial disturbance with a better response. Further, the cycle offset, caused by the auxiliary stabilizing compensator, is significantly reduced by the combination of a spatial low-pass compensator and a time-advance element. Moreover, a cascaded structure of ACARCs is presented together with a detailed design procedure for disturbance with multiple components occurring in actual rotary systems. The effectiveness and superiority of the proposed control method are verified and compared with other methods by the simulations and experiments.