Tuning and implementation variants of discrete-time ADRC  

作　　者：Gernot Herbst Rafal Madonski 

机构地区：[1]University of Applied Sciences Zwickau,Zwickau,Germany [2]Energy and Electricity Research Center,Jinan University,Guangzhou,China

出　　处：《Control Theory and Technology》2023年第1期72-88,共17页控制理论与技术（英文版）

基　　金：The work of R.Madonski was supported by the Fundamental Research Funds for the Central Universities(Project no.21620335).

摘　　要：Practical implementations of active disturbance rejection control(ADRC)will almost always take place in discretized form.Since applications may have quite different needs regarding their discrete-time controllers,this article summarizes and extends the available set of ADRC implementations to provide a suitable variant for as many as possible use cases.In doing so,the gap between quasi-continuous and discrete-time controller tuning is closed for applications with low sampling frequencies.The main contribution of this article is the derivation of three different discrete-time implementations of error-based ADRC.It is shown that these are almost one-to-one counterparts of existing output-based implementations,to the point where transfer functions and coefficients can be reused in unaltered form.In this way,error-based implementations become firmly rooted in the established landscape of discrete-time ADRC.Furthermore,it becomes possible to equip error-based variants with windup protection abilities known from output-based ADRC.

关 键 词：Active disturbance rejection control(ADRC)-Error-based form Controller tuning DISCRETIZATION 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]