scholarly journals ADRC Method for Noncascaded Integral System Based on the Total Derivative of Composite Functions of Several Variables

2016 ◽  
Vol 2016 ◽  
pp. 1-9
Author(s):  
Zhijian Huang ◽  
Xuemei Xiong ◽  
Hailong Wang ◽  
Yuli Chen ◽  
Yihua Liu
Keyword(s):  
Controller Design ◽  
Integral Form ◽  
Total Derivative ◽  
Space System ◽  
Composite Functions ◽  
Several Variables ◽  
Integral Systems ◽  
State Space System ◽  
Different Levels ◽  
Application Scope

The standard ADRC controller usually selects the canonical plant in the form of cascaded integrators. However, the condition variables of practical system do not necessarily have the cascaded integral relationship. Therefore, this paper proposes a method of total derivative of composite functions of several variables and a structure, which can convert the state space system of noncascaded integral form into the cascaded integral form. In this way, the converted system can be directly controlled with ADRC. Meanwhile, the control of Chen chaotic system is discussed in detail to show the conversion and the controller design. The control performances under different levels of complication and different strengths of disturbance are comparably researched. The converted system achieves significantly better control effects under ADRC than that of the PID. This converting method solves the control problem of some noncascaded integral systems in both theory and application and greatly expands the application scope of the standard ADRC method.

scholarly journals An ADRC Method for Noncascaded Integral Systems Based on Algebraic Substitution Method and Its Structure

2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Zhijian Huang ◽  
Yudong Li ◽  
Yihua Liu ◽  
Wenbo Sui ◽  
Guichen Zhang
Keyword(s):  
Controller Design ◽  
Integral Form ◽  
State Variables ◽  
Control Effect ◽  
Substitution Method ◽  
Integral System ◽  
Numerical Example ◽  
Disturbance Rejection Control ◽  
Integral Systems ◽  
And Control

The Active Disturbance Rejection Control (ADRC) prefers the cascaded integral system for a convenient design or better control effect and takes it as a typical form. However, the state variables of practical system do not necessarily have a cascaded integral relationship. Therefore, this paper proposes an algebraic substitution method and its structure, which can convert a noncascaded integral system of PID control into a cascaded integral form. The adjusting parameters of the ADRC controller are also demonstrated. Meanwhile, a numerical example and the oscillation control of a flexible arm are demonstrated to show the conversion, controller design, and control effect. The converted system is proved to be more suitable for a direct ADRC control. In addition, for the numerical example, its control effect for the converted system is compared with a PID controller under different disturbances. The result shows that the converted system can achieve a better control effect under the ADRC than that of a PID. The theory is a guide before practice. This converting method not only solves the ADRC control problem of some noncascaded integral systems in theory and simulation but also expands the application scope of the ADRC method.

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