Treating plant dynamics as an ideal integrator chain disturbed by the total disturbance is the hallmark of active disturbance rejection control(ADRC).To interpret its effectiveness and success,to explain why so many v...Treating plant dynamics as an ideal integrator chain disturbed by the total disturbance is the hallmark of active disturbance rejection control(ADRC).To interpret its effectiveness and success,to explain why so many vastly different dynamic systems can be treated in this manner,and to answer why a detailed,accurate,and global mathematical model is unnecessary,is the target of this paper.Driven by a motivating example,the notions of normality and locality are introduced.Normality shows that,in ADRC,the plant is normalized to an integrator chain,which is called local nominal model and locally describes the plant’s frequency response in the neighborhood of the expected gain crossover frequency.Locality interprets why ADRC can design the controller only with the local information of the plant.With normality and locality,ADRC can be effective and robust,and obtain operational stability discussed by T.S.Tsien.Then viewing proportional-integral-derivative(PID)control as a low-frequency approximation of second-order linear ADRC,the above results are extended to PID control.A controller design framework is proposed to obtain the controller in three steps:(1)choose an integrator chain as the local nominal model of the plant;(2)select a controller family corresponding to the local nominal model;and(3)tune the controller to guarantee the gain crossover frequency specification.The second-order linear ADRC and the PID control are two special cases of the framework.展开更多
This article describes the growth of zinc sulfide（ZnS） nanorod on glass/aluminum foil by employing butterfly wings as biotemplate. Upon calcinating（at 400 °C）, the butterfly wings soaked in ZnS nanoparticle s...This article describes the growth of zinc sulfide（ZnS） nanorod on glass/aluminum foil by employing butterfly wings as biotemplate. Upon calcinating（at 400 °C）, the butterfly wings soaked in ZnS nanoparticle suspension, with uniform cage-like nanostructures in nanodimensions, were found on glass/aluminum surface. The transverse and longitudinal dimensions of the nanorods were evaluated from scanning electron microscopy micrographs as 132 and 159 nm,respectively. Purity of the ZnS nanorod found on the specimen was checked by recording XRD（28.877°, 48.038°, and57.174°） and Fourier transform infrared spectrometer spectra（663.7 and 551.68 cm^-1）. Luminescence natures of the nanorods were examined using photoluminescence spectral studies. The characteristic emission peak is shown in the visible region with strong intensity, while the excitation peak is shown at 267 nm. Electrochemical impedance spectroscopic analysis of ZnS nanorod exhibits double-layer capacitance value（Cdl= 6.7 nF）, and the Bode plot explains the stability of ZnS nanorod under the influence of electrical field.展开更多
基金This work was supported by the National Nature Science Foundation of China(Grant No.61733017).
文摘Treating plant dynamics as an ideal integrator chain disturbed by the total disturbance is the hallmark of active disturbance rejection control(ADRC).To interpret its effectiveness and success,to explain why so many vastly different dynamic systems can be treated in this manner,and to answer why a detailed,accurate,and global mathematical model is unnecessary,is the target of this paper.Driven by a motivating example,the notions of normality and locality are introduced.Normality shows that,in ADRC,the plant is normalized to an integrator chain,which is called local nominal model and locally describes the plant’s frequency response in the neighborhood of the expected gain crossover frequency.Locality interprets why ADRC can design the controller only with the local information of the plant.With normality and locality,ADRC can be effective and robust,and obtain operational stability discussed by T.S.Tsien.Then viewing proportional-integral-derivative(PID)control as a low-frequency approximation of second-order linear ADRC,the above results are extended to PID control.A controller design framework is proposed to obtain the controller in three steps:(1)choose an integrator chain as the local nominal model of the plant;(2)select a controller family corresponding to the local nominal model;and(3)tune the controller to guarantee the gain crossover frequency specification.The second-order linear ADRC and the PID control are two special cases of the framework.
文摘This article describes the growth of zinc sulfide（ZnS） nanorod on glass/aluminum foil by employing butterfly wings as biotemplate. Upon calcinating（at 400 °C）, the butterfly wings soaked in ZnS nanoparticle suspension, with uniform cage-like nanostructures in nanodimensions, were found on glass/aluminum surface. The transverse and longitudinal dimensions of the nanorods were evaluated from scanning electron microscopy micrographs as 132 and 159 nm,respectively. Purity of the ZnS nanorod found on the specimen was checked by recording XRD（28.877°, 48.038°, and57.174°） and Fourier transform infrared spectrometer spectra（663.7 and 551.68 cm^-1）. Luminescence natures of the nanorods were examined using photoluminescence spectral studies. The characteristic emission peak is shown in the visible region with strong intensity, while the excitation peak is shown at 267 nm. Electrochemical impedance spectroscopic analysis of ZnS nanorod exhibits double-layer capacitance value（Cdl= 6.7 nF）, and the Bode plot explains the stability of ZnS nanorod under the influence of electrical field.
