Non-linear parameter 1, 2, and pk, dk ,to achieve nonlinear control of "integral series" type object,Īctual control is u, 3 0/z b compensate the disturbance ( ( ), ( ), ( ))f x t x t w t and unmodeledĢ244 Frontiers of Manufacturing and Design Science IIĭynamic Structure of The Module Realization. Discrete algorithm isġe, 2e are the error and the error of the differential between 1v and y. The amount of disturbance and the action ( ( ), ( ), ( ))f x t x t w t, feedback to control amount 0u. The state variables of ESO 1, 2z z can track objects output y and y very well, 3z can estimate Discrete algorithm isĠv is input signal, h is integral step interval, 0h is the parameters when the input signal isĮSO Discrete Algorithm. Strongly nonlinear and uncertain disturbance action to ensure under control accuracy. Not depend on mathematical model of the controlled object, the response is fast, in unknown Nonlinear mechanism developed some special function, develop a new controllerADRC. PID controller for classical linear control system can not meet the requirement, Jingqing Han used No part of contents of this paper may be reproduced or transmitted in any form or by any means without the written permission of TTP,(ID: 128.42.202.150, Rice University, Fondren Library, Houston, USA-12/11/14,00:51:48) The parameter table of flag references.Īpplied Mechanics and Materials Vols. t, x, u for time, state and respectively input signal, flagįor flags.
Of matrix to set the sampling time and delay. X0 is initial state value, str used for setting output vector for an empty matrix, ts adopts two columns
Here fun_name is S function name, sys return to different results according to the value of flag, The guidance statement of S Function in M files:
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In the process of simulation, the above formula correspond different simulation stage, they areĬalculation modules of output, update discrete state variable or continuous state differential Three basic elements: input vector u, the state vector y and output vector x. Use of MATLAB, C language to create custom SIMULINK module. Function of SIMULINK is called S Function, it makes a user can Settings are complicated, therefore according to the modular modeling ideas, adopt S Function to When the system uses a special control law(such as the transfer function can not beĭescribed directly), if using SIMULINK directly, this simulation needs to introduce S Function.īecause ADRC technology uses special nonlinear function and a new dynamic structure, parameter SIMULINK is a software package based on MATLAB, used for dynamic systems modeling and By conducting the simulationĮxample of the main steam temperature control system in a certain thermal power plant, theĬorrectness and the effectiveness of the ADRC have been demonstrated. Tracking Differentiator(TD) and the Extended State Observer(ESO). Well according to the discrete algorithm of the Nonlinear State Error Feedback(NLSEF), the Basing on the MATLAB/SIMULINK as the simulation platform, three functionīlocks were constructed adopting the S Function and the subsystems encapsulation was realized as The method to analysis the advantages of S Function and Auto-Disturbance-RejectionĬontrol(ADRC). Yongguang Ma1,a, Ning Ran1,aand Ningbo Jia1,aġSchool of Control and Computer Engineering, North China Electric Power University, BaodingĠ71003, S Function, ADRC, Subsystem Package, SimulationĪbstract. SIMULINK Simulation of ADRC Based on S Function
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