自抗扰控制器的发展及其应用

Development and application of active disturbance rejection controller

本文介绍了自抗扰控制器(ADRC)的发展过程-从非线性PID到扩张状态观测器的产生,再到自抗扰控制器的形成。同时,全面阐述了自抗扰控制器(ADRC)的基本结构,参数整定原理并以具体实例验证了ADRC良好的控制性能．

From nonlinear controller to the extended state observer （ESO）,then to the active disturbance rejection controller（ADRC）, the development of active disturbance rejection controller is introduced in this paper. At the same time, the paper expatiates the basic frame of ADRC, the principle of parameter setting and the application in interrelated fields.