针对几种常用自抗扰控制律,分别从时域、频域两个方面的多个性能指标进行了对比分析.其中,时域性能包括上升时间、超调量、调节时间等指标,频域性能包括稳定裕度、带宽、稳态误差等指标.由分析可知,当控制律中包含跟踪信号的微分信号时, 相当于系统引入了一个零点.据此,提出了基于调节零点的改进控制律.进一步的分析表明,改进后的控制律在能够使系统性能进行折中调整,提高了控制律的自由度.

This paper makes a comparative analysis about the common control laws of the active disturbance rejection control (ADRC) in both time domain and frequency domain. Time domain performance analyses include the indexes of rise time, overshoot and regulation time, and frequency domain performance analyses include the indexes of stability margin, bandwidth and steady state error, etc. The analysis shows that the system introduces a zero point when the control law contains the differential signal of the tracked signal. Based on this, the improved control law is proposed through regulating the zero point. Further analysis shows that the improved control law can make the performance of the system compromise and regulate, which improves the flexibility of the control law.