介绍了一种位置型自抗扰控制器(Active Disturbance Rejection Control, ADRC)的数字实现.根据线性一阶和二阶自抗扰算法的计算原理, 提出自抗扰控制器无扰切换的具体逻辑实现方法, 使得控制方 式转换过程可以平滑进行, 避免对系统造成额外干扰. 通过C语 言的实现形式, 测试所提出的数字型自抗扰控制算法基本闭环 控制功能, 并证明所提出的位置型自抗扰控制器可以实现ADRC/PID/手动模式之间的无扰切换. 仿真结果表明了该位置型控制器在过程控制平台中应用的有效性和可实现性.

A method of digital realization for position active disturbance rejection control (ADRC) is proposed in this paper. Based on the principle of first-order and second-order linear ADRC algorithm, an effective technique for bumpless switching is designed for the purpose of switching to ADRC mode without any external effects to system. The proposed algorithm with its C language implementation is tested on its close-loop control function and shows the ability of bumpless switching among the manual, PID and ADRC modes. The simulation results suggest the proposed digital ADRC algorithm with bumpless switching technique is effective and feasible in process control.