Õª Òª£ºÎª½â¾öÒì²½µç»úÔÚµÍËÙ¡¢Ëæ»ú¸ÉÈÅ¡¢µç»ú²ÎÊý±ä»¯¿ØÖÆÐÔÄܱä²îµÄÎÊÌ⣬±¾ÎÄÌá³öÔÚÖ±½Óת¾Ø¿ØÖÆϵͳµÄתËÙµ÷½ÚÆ÷ÖвÉÓÃ×Ô¿¹ÈÅ¿ØÖƼ¼Êõ£¨ADRC£©£¬ÔÚÉîÈë·ÖÎö×Ô¿¹ÈÅ¿ØÖÆÆ÷µÄ»ù´¡ÉÏ£¬Éè¼ÆÁË×Ô¿¹ÈÅ¿ØÖÆËٶȵ÷½ÚÆ÷£¬²¢Óë³£ÓõÄPIµ÷½ÚÆ÷ÔÚMatlab/Simulink·ÂÕæ»·¾³Ï½øÐÐʵÑé¶Ô±È¡£ÊµÑé½á¹û±íÃ÷£¬Ëù²ÉÈ¡µÄ·½·¨ÔÚ¸ÄÉÆϵͳµÄµÍËÙÐÔÄÜ£¬¿¹¸ºÔØÈŶ¯·½ÃæÈ¡µÃÏÔÖøЧ¹û¡£
¹Ø¼ü´Ê£º×Ô¿¹Èż¼Êõ£»Ö±½Óת¾Ø¿ØÖÆ£»·ÂÕæ
1 ÒýÑÔ
Ëæ×ŵçÁ¦µç×Ó¼¼Êõ¼°¿ØÖÆÀíÂ۵IJ»¶Ï·¢Õ¹£¬½»Á÷Òì²½µç»úµÄÐÔÄÜÒ²ÔÚ²»¶ÏÌá¸ß£¬Òì²½µç»úµÄµ÷ËÙ·½·¨ÔÚʵ¼ÊÖÐÒѵõ½¹ã·ºÓ¦Óá£ÔÚ´«Í³µÄÒì²½µç»úÖ±½Óת¾Ø¿ØÖÆϵͳÖУ¬×ªËÙ»·Í¨³£²ÉÓÃPI¿ØÖÆÆ÷¡£µ«µ±±»¿Ø¶ÔÏóʱ±äÐÔ½ÏÇ¿£¬ÇÒÍâÔÚ¸ÉÈÅÒòËؽ϶àʱ£¬´«Í³PID¿ØÖÆÒÑÎÞ·¨Âú×ãÏÖ´ú¿ØÖƶÔÓÚϵͳÐÔÄܵĿÁ¿ÌÒªÇó[1]¡£
º«¾©Çå½ÌÊÚÔÚ·¢ÑïPID¿ØÖƾ«ËèµÄ»ù´¡ÉÏ£¬½áºÏÏÖ´ú¿ØÖÆÀíÂÛÌá³öÁË×Ô¿¹ÈÅ¿ØÖƼ¼Êõ£¨ADRC£©£¬²»µ
[µÇ½ºó¿É²é¿´È«ÎÄ]