33 research outputs found
Tuning and Implementation Variants of Discrete-Time ADRC
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
Active Disturbance Rejection Control (ADRC) Toolbox for MATLAB/Simulink
In this study, an active disturbance rejection control (ADRC) toolbox for
MATLAB/Simulink is introduced. Although ADRC has already been established as a
powerful robust control framework with successful industrial implementations
and strong theoretical foundations, a comprehensive tool for computer-aided
design of ADRC has not been developed until now. The proposed open-source ADRC
Toolbox is a response to the growing need in the scientific community and the
control industry for a straightforward software application of the ADRC
methodology. Its main purpose is to fill the gap between the current theories
and applications of ADRC and to provide an easy-to-use solution for users in
various control fields who want to employ the ADRC scheme in their
applications. The ADRC Toolbox contains a single, general-purpose,
drag-and-drop function block that allows the synthesis of a predefined
ADRC-based strategy with minimal design effort. Additionally, its open
structure allows creation of custom control solutions. The efficacy of the ADRC
Toolbox is validated through both simulations and hardware experiments, which
were conducted using a variety of problems known in the motion, process, and
power control areas.Comment: 43 pages, 16 figures, 3 table
Robust converter-fed motor control based on active rejection of multiple disturbances
In this work, an advanced motion controller is proposed for buck
converter-fed DC motor systems. The design is based on an idea of active
disturbance rejection control (ADRC) with its key component being a custom
observer capable of reconstructing various types of disturbances (including
complex, harmonic signals). A special formulation of the proposed design allows
the control action to be expressed in a concise and practically appealing form
reducing its implementation requirements. The obtained experimental results
show increased performance of the introduced approach over conventionally used
methods in tracking precision and disturbance rejection, while keeping similar
level of energy consumption. A stability analysis using theory of singular
perturbation further supports the validity of proposed control approach.Comment: 30 pages, 7 figures, 1 tabl
General Error-based Active Disturbance Rejection Control for Swift Industrial Implementations
In this article, a typical 2DOF active disturbance rejection control (ADRC) design is restructured into a 1DOF form, thus making it compatible with standard industrial control function blocks and enhancing its market competitiveness. This methodology integrates the previously separated components, such as the profile generator, state observer, feedback controller, feedforward terms, and disturbance rejection, into one unified structure. In doing so, certain ADRC components can be made simpler (or even obsolete) without sacrificing the nominal control performance, which further simplifies the control synthesis and tuning. A generalized version of the error-driven design is adopted and rigorously proved here using the singular perturbation theory. The experimental verification of the utilized approach is carried out using a disturbed DC–DC buck converter
Nonlinear Extended State Observer based Active Disturbance Rejection Control of a Laser Seeker System
In this paper, the laser seeker control problem is solved in the framework of active disturbance rejection control (ADRC). The considered problem, which consists of laser seeker stabilisation and target tracking, is expressed here as a regulation problem. A nonlinear extended state observer (NESO) with varying gains is used to improve the performance of linear ESO (LESO), and thus enable better control performance in both transient period and steady-state, with lower control effort. Based on a detailed analysis of system disturbances, a special ADRC tuning method is proposed. The stability of the overall control structure is analysed with a description function method. Through comparative simulations LESO-based and the introduced NESO-based ADRC for the laser seeker system, the advantages of the proposed scheme are shown
On Vibration Suppression and Trajectory Tracking in Largely Uncertain Torsional System: An Error-based ADRC Approach
In this work, a practically relevant control problem of compensating harmonic uncertainties is tackled. The problem is formulated and solved here using an active disturbance rejection control (ADRC) methodology. A novel, custom ADRC structure is proposed that utilizes an innovative resonant extended state observer (RESO), dedicated to systems subjected to harmonic interferences. In order to make the introduced solution more industry-friendly, the entire observer-centered control topology is additionally restructured into one degree-of-freedom, compact, feedback error-based form (similar to ubiquitous in practice PID controller). Such reorganization enables a straightforward implementation and commission of the proposed technique in wide range of industrial control platforms, thus potentially increasing its outreach. In order to verify the efficiency of the introduced method, a multi-criteria experimental case study using a torsional plant is conducted in a trajectory tracking task, showing satisfactory performance in vibration suppression, without the often problem of noise amplification due to high observer/controller gains. Finally, a frequency analysis and a rigorous stability proof of the proposed control structure are given
On a Novel Tracking Differentiator Design Based on Iterative Learning in a Moving Window
Differential signals are key in control engineering as they anticipate future behavior of process variables and therefore are critical in formulating control laws such as proportional-integral-derivative (PID). The practical challenge, however, is to extract such signals from noisy measurements and this difficulty is addressed first by J. Han in the form of linear and nonlinear tracking differentiator (TD). While improvements were made, TD did not completely resolve the conflict between the noise sensitivity and the accuracy and timeliness of the differentiation. The two approaches proposed in this paper start with the basic linear TD, but apply iterative learning mechanism to the historical data in a moving window (MW), to form two new iterative learning tracking differentiators (IL-TD): one is a parallel IL-TD using an iterative ladder network structure which is implementable in analog circuits; the other a serial IL-TD which is implementable digitally on any computer platform. Both algorithms are validated in simulations which show that the proposed two IL-TDs have better tracking differentiation and de-noise performance compared to the existing linear TD