论文标题
转移功能分析和实施主动干扰拒绝控制
Transfer Function Analysis and Implementation of Active Disturbance Rejection Control
论文作者
论文摘要
为了支持在工业实践中采用主动干扰拒绝控制（ADRC），本文旨在使用传统手段来改善ADRC的理解和实施，尤其是通过转移功能和频域视图。首先，为了与现有的经典控制解决方案具有直接的可比性，引入了连续时间线性ADRC的可实现传输函数。其次，对ADRC组件，性能，参数灵敏度和调整方法进行了频域分析。最后，首次引入了使用传输功能的离散时间ADRC的确切实现，并特别强调了诸如计算效率，低参数足迹和Windup Protection等实用方面。
To support the adoption of active disturbance rejection control (ADRC) in industrial practice, this article aims at improving both understanding and implementation of ADRC using traditional means, in particular via transfer functions and a frequency-domain view. Firstly, to enable an immediate comparability with existing classical control solutions, a realizable transfer function implementation of continous-time linear ADRC is introduced. Secondly, a frequency-domain analysis of ADRC components, performance, parameter sensitivity, and tuning method is performed. Finally, an exact implementation of discrete-time ADRC using transfer functions is introduced for the first time, with special emphasis on practical aspects such as computational efficiency, low parameter footprint, and windup protection.
