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受带宽自抗扰控制器(ADRC)参数整定方法启发,给出一种基于系统调节时间/观测时间的ADRC参数整定方法.利用调节时间与控制器带宽之间的关系,给出基于调节时间整定非线性控制器参数kp及kd的方法;同时,利用所定义的观测时间概念,给出一种扩张状态观测器(ESO)参数整定策略.这两种ADRC参数整定方法简化了基于带宽方法的参数整定过程,拓展了其应用范围.仿真结果表明了所提出方法的有效性.
Inspired by ADRC parameter tuning method, an ADRC parameter tuning method based on system adjustment time / observation time is given.Using the relationship between the adjustment time and the controller bandwidth, Nonlinear controller parameters kp and kd, and at the same time, using the defined concept of observation time, a tuning strategy of parameters of the extended state observer (ESO) is proposed.The two ADRC parameter tuning methods simplify the parameters based on the bandwidth method Setting process and expanding the scope of its application.The simulation results show the effectiveness of the proposed method.