| This Paper:Browse 438 Download 0 |
码上扫一扫！ |
| Tuning and implementation variants of discrete-time ADRC |
| GernotHerbst1,RafalMadonski2 |
|
|
| (1 University of Applied Sciences Zwickau, Zwickau, Germany;2 Energy and Electricity Research Center, Jinan University, Guangzhou, China) |
|
| 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 |
| DOI：https://doi.org/10.1007/s11768-023-00127-0 |
|
| 基金项目:The work of R. Madonski was supported by the Fundamental Research Funds for the Central Universities (Project no. 21620335). |
|
| Tuning and implementation variants of discrete-time ADRC |
| Gernot Herbst1,Rafal Madonski2 |
| (1 University of Applied Sciences Zwickau, Zwickau, Germany;2 Energy and Electricity Research Center, Jinan University, Guangzhou, China) |
| Abstract: |
| 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. |
| Key words: Active disturbance rejection control (ADRC) · Error-based form · Controller tuning · Discretization |
