论文标题
调整和实现离散时间ADRC的变体
Tuning and Implementation Variants of Discrete-Time ADRC
论文作者
论文摘要
主动干扰拒绝控制（ADRC）的实际实施几乎总是以离散形式进行。由于应用程序在其离散时间控制器方面可能有完全不同的需求，因此本文总结并扩展了可用的ADRC实现集，以提供适合尽可能多的用例的合适变体。在此过程中，对于低采样频率的应用，准连续和离散时间控制器调整之间的差距正在封闭。本文的主要贡献是基于错误的ADRC的三个不同离散时间实现的推导。结果表明，这些几乎是现有基于输出的实现的一对一的对应物，以至于可以以不变的形式重复使用传输功能和系数。这样，基于错误的实现就牢固地植根于既定的离散时间ADRC的景观。此外，可以为基于输出的ADRC已知的Windup保护能力配备基于错误的变体。
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 being 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.
