In this work,we investigate two specific linear ADRC structures,namely output-and error-based.The former is considered a“standard”version of ADRC,a title obtained primarily thanks to its simplicity and effectiveness...In this work,we investigate two specific linear ADRC structures,namely output-and error-based.The former is considered a“standard”version of ADRC,a title obtained primarily thanks to its simplicity and effectiveness,which have spurred its adoption across multiple industries.The latter is found to be especially appealing to practitioners as its feedback error-driven structure bares similarities to conventional control solutions,like PI and PID.In this paper,we describe newly found connections between the two considered ADRC structures,which allowed us to formally establish conditions for their equivalence.Furthermore,the conducted comprehensive performance comparison between output-and error-based ADRCs has facilitated the identification of specific modules within them,which can now be conveniently used as building blocks,thus aiding the control designers in customizing ADRC-based solutions and making them most suitable for their applications.展开更多
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...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.展开更多
基金The work of Dr.R.Madonski was supported by the Fundamental Research Funds for the Central Universities(Project No.21620335)The work of Dr.M.Stankovic was supported by the International Foreign Expert Project Fund of Jinan University(Project No.G2021199027L,coordinator:Dr.Hui Deng).
文摘In this work,we investigate two specific linear ADRC structures,namely output-and error-based.The former is considered a“standard”version of ADRC,a title obtained primarily thanks to its simplicity and effectiveness,which have spurred its adoption across multiple industries.The latter is found to be especially appealing to practitioners as its feedback error-driven structure bares similarities to conventional control solutions,like PI and PID.In this paper,we describe newly found connections between the two considered ADRC structures,which allowed us to formally establish conditions for their equivalence.Furthermore,the conducted comprehensive performance comparison between output-and error-based ADRCs has facilitated the identification of specific modules within them,which can now be conveniently used as building blocks,thus aiding the control designers in customizing ADRC-based solutions and making them most suitable for their applications.
基金The work of R.Madonski was supported by the Fundamental Research Funds for the Central Universities(Project no.21620335).
文摘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.
