CN105262393A - Speed control method applying novel transition process for fault-tolerant permanent magnet motor - Google Patents
Speed control method applying novel transition process for fault-tolerant permanent magnet motor Download PDFInfo
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Abstract
The invention discloses a speed control method applying a novel transition process for a fault-tolerant permanent magnet motor, belonging to the technical field of speed control of a permanent magnet motor. A rapid and stable transition process is arranged according to maximum physical acceleration allowed by a motor vector control system, and the acceleration is compensated in real time by using a linear active-disturbance-rejection controller so that non-overshoot rapid response can be achieved by the motor in the whole dynamic process; moreover, the linear active-disturbance-rejection controller with regards to the fault-tolerant permanent magnet motor is further designed; and except for a tracking differentiator, a parameter to be adjusted has only one observer bandwidth value Omega<0>, and the design difficulty of the controller is simplified. The experimental tests show that the novel controller designed according to the method has high disturbance rejection ability compared with the traditional proportion integral (PI) controller, and the time response to disturbance of the system is also shortened.
Description
Technical field
The present invention relates to magneto controlling technology of velocity, particularly a kind of fault-tolerant magneto speed ring linear active disturbance rejection of novel transition process that adopts controls (LADRC) method, is applicable to permagnetic synchronous motor high performance servo control field.
Background technology
Permagnetic synchronous motor be one complicated non-linear, in running, usually can there is Parameter Perturbation and external disturbance in the system of close coupling.But in permagnetic synchronous motor Vector Speed-Control System, the double closed-loop control system of usual employing speed outer shroud and current inner loop, and controller all adopts traditional PID controller.Because conventional PID controllers exists overshoot greatly, the shortcomings such as the response time is long, and Ability of Resisting Disturbance is poor, can not reach satisfied control effects usually.Therefore a lot of advanced algorithm is applied to Permanent-magnet Synchronous-motor Speed Servo System, as neural network control method, sliding mode variable structure control method, fuzzy control method, self-adaptation control method etc., but they need to carry out complicated mathematical operation and theory deduction mostly, are difficult to really be applied in Permanent-magnet Synchronous-motor Speed Servo System.Therefore, study novel simple control algolithm, and to apply it in fault-tolerant control system for permanent-magnet synchronous motor to improve the performance of control system be a problem demanding prompt solution.
Although adopt traditional linearity tracking differentiator can reach the object reducing overshoot, rotating speed still has overshoot, this is because traditional linearity tracking differentiator is not considered to make the starting characteristic of motor motor be accumulated in the error of initial period, finally produce overshoot completely.And the effect improving system robustness is not played in the use of traditional linearity tracking differentiator, the direction of the regulating parameter that neither one is clear and definite, clear and definite not to the guidance of the control of motor speed.
Summary of the invention
The object of this invention is to provide a kind of fault-tolerant permagnetic synchronous motor method for control speed of little (nothing) tracking error, in order to solve Ability of Resisting Disturbance when fault-tolerant permagnetic synchronous motor responds the contradiction between rapidity and overshoot and improves stable state in dynamic process, to improve the performance that motor runs.
Technical scheme of the present invention is on linear automatic disturbance rejection controller basis, according to the dynamic properties design Nonlinear Tracking Differentiator of motor, makes motor can tracing preset value accurately at dynamic process medium speed.In the speed control of the present invention's design, except Nonlinear Tracking Differentiator, the regulating parameter of controller is all determined by bandwidth value (i.e. the pole value of the proper polynomial of observer system), decrease the quantity of controller parameter and the difficulty of adjustment compared with traditional controller, ensure that the robustness of system simultaneously.
The technical solution used in the present invention has following steps: a kind of fault-tolerant magneto method for control speed adopting novel transition process, comprises the following steps:
S1, given motor speed value n
*, design a kind of Nonlinear Tracking Differentiator of novel transition process, obtain the real-time set-point v of motor speed
1; Described Nonlinear Tracking Differentiator according to motor dynamics characteristic transition process arranging, according to rotational speed setup n
*rational arrangement real-time rotate speed set-point v
1, by this transient process function representation be:
Wherein, n
*for rotary speed setting value, v
1for rotating speed transition signal, v
2for the differential signal of transition signal, k is the Turbo Factor designed according to motor dynamics characteristic;
S2, the rotor position of permagnetic synchronous motor is obtained by photoelectric encoder, fault-tolerant permanent magnet machine rotor position θ is obtained by photoelectric encoder, then phase current is changed into d-q electric current through 5s/2r coordinate transformation module, adopt 2r/2s coordinate transformation module to change d-q shaft voltage into alpha-beta shaft voltage, and calculate rotating speed n;
S3, according to rotary speed setting value v
1with speed feedback value n, speed ring linear active disturbance rejection controller is designed, linear extended state observer in speed ring linear active disturbance rejection controller to export the rotating speed of control system for permanent-magnet synchronous motor and the total disturbance of system is observed, and draws speed observation value z
1with disturbance estimated value z
2, finally obtain the associated control parameters of linear active disturbance rejection controller;
S4, by control signal u (the i.e. quadrature axis current set-point obtained by linear active disturbance rejection controller
) given as inner ring q shaft current controller, and then realize electric machine speed regulation and control, the conversion being tied to rest frame through rotational coordinates obtains the voltage U of rest frame alpha-beta axle
α, U
β, sent into the PWM ripple signal that space voltage vector SVPWM modulation module produces each phase of motor, the rotating speed realizing motor controls.
Further, in described step S1, the expression formula of Turbo Factor function is:
Wherein, t represents system operation time, T
1, T
2, T
3represent three time points of system cloud gray model respectively, the relation between them is determined by motor electrical time constant and mechanical time constant, a
maxexpression system peak acceleration, a
texpression system real time acceleration,
represent the real-time Assumption torque disturbance of linear active disturbance rejection controller, h is torque feedback coefficient.
Further, described T
1, T
2, T
3relation between three parameters meets 8T
1=8 (T
3-T
2)=T
2-T
1.
Further, the parameter choose of described Turbo Factor function k is: T
1=0.005, T
2=0.045, T
3=0.05, a
max=330, h=0.4.
Further, the detailed process of described step S3 is:
S3.1, sets up the linear extended state observer of control system for permanent-magnet synchronous motor, and linear extended state observer to export the rotating speed of fault-tolerant control system for permanent-magnet synchronous motor and observation acquisition speed observation value z is carried out in the total disturbance of system
1with disturbance estimated value z
2, expression is:
Wherein, e is the difference of measured value and actual value,
the differential signal of speed observation value,
be the differential signal of the total disturbance of system, u is the output signal of automatic disturbance rejection controller,
determined by system model, β
1, β
2for controller parameter;
S3.2, builds the proper polynomial of linear extended state observer, and the parameter beta in adjustment feature multinomial
1, β
2;
S3.3, according to linearity error Feedback Control Laws by rotating speed transition signal v
1measured value z is exported with rotating speed
1make difference and obtain error e
2, e
2original control signal u is obtained through a proportional controller
0, then the control signal u of automatic disturbance rejection controller is obtained through disturbance compensation:
Wherein, k
pfor proportional controller gain, usually get k
p=ω
c, claim controller bandwidth;
S3.4, finally draws observer bandwidth omega
0with controller bandwidth omega
cω need be met
0≈ 5-10 ω
c.
Further, described controller bandwidth is ω
c=100, proportional controller gain k
p=100, observer bandwidth omega
0=500, controller parameter β
1=1000, β
2=250000.
The present invention has following beneficial effect:
1) the physics peak acceleration allowed according to motor vector control system arranges a fast and stably transient process, specially according to a kind of novel Nonlinear Tracking Differentiator of the dynamic properties design of five mutually fault-tolerant permagnetic synchronous motors, make motor can tracing preset value accurately at dynamic process medium speed; And utilize linear active disturbance rejection controller to carry out real-Time Compensation to acceleration, make motor realize non-overshoot in whole dynamic process and respond fast.
2) parameter choose of Turbo Factor function k is: T
1=0.005, T
2=0.045, T
3=0.05, a
max=330, h=0.4.As can be seen from the oscillogram of Turbo Factor function, when it and general direct current machine startup or shock load, current waveform is very similar, utilizes this Turbo Factor function, and little (nothing) error that can realize in magneto dynamic process is run.
3) through a large amount of experimental verifications: described controller bandwidth is ω
c=100, proportional controller gain k
p=100, observer bandwidth omega
0=500, controller parameter β
1=1000, β
2=250000, because motor is that little (nothing) error is run in whole service process, proportional controller gain k
pa value in a big way, the robustness of controller can be greatly strengthen and do not cause system to shake; Owing to adopting linear active disturbance rejection controller, except Nonlinear Tracking Differentiator, the parameter that need regulate only has an observer bandwidth value ω
0, greatly simplify Controller gain variations difficulty.
4) relative to conventional PI control device, the new controller of the present invention's design has very strong Ability of Resisting Disturbance, and shortens the time of system responses disturbance.
Can learn from the above, after adopting new controller of the present invention, the robustness of system anti-disturbance improves, and the more important thing is that system response time shortens and non-overshoot.
Accompanying drawing explanation
Fig. 1 is the five mutually fault-tolerant magneto space voltage vector control structured flowcharts adopting rotational speed governor of the present invention;
The mutually fault-tolerant cross-sectional view of permanent magnet electric machine of Fig. 2 five;
Fig. 3 is five mutually fault-tolerant magneto quadrature axis equivalent circuit diagrams;
Fig. 4 is Turbo Factor function waveform figure in novel Nonlinear Tracking Differentiator;
Fig. 5 is speed ring linear active disturbance rejection controller block diagram;
Fig. 6 is the load torque disturbance quantity oscillogram do not applied in the same time;
Fig. 7 is having the rotating speed response oscillogram adopting PI controller in load torque step situation;
Fig. 8 is having the rotating speed response oscillogram adopting new controller in load torque step situation;
Fig. 9 is the rotating speed step response waveform figure adopting PI controller under no-load condition;
Figure 10 is the rotating speed step response waveform figure adopting new controller under no-load condition.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described.
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.
The present invention implements on the mutually fault-tolerant permagnetic synchronous motor space voltage vector control structured flowchart of five as shown in Figure 1 basis.Fig. 2 is the sectional view of the five mutually fault-tolerant magnetoes designed herein.As shown in Figure 2, the V-shaped arrangement of five-phase induction motor permanent magnet of selecting herein, permanent magnet is embedded in rotor, makes processing and installs all more convenient.For the motor of embedded permanent magnet, can reluctance torque be produced, Appropriate application reluctance torque, the density of magneto electromagnetic torque can be increased and expand the speed adjustable range of motor.Stator winding adopts the centralized distribution of individual layer, can reduce copper loss, raise the efficiency.The alternately arrangement of the armature tooth of motor and fault-tolerant teeth, and the width of fault-tolerant teeth is less than armature tooth, optimizes back-emf with this, reduces cogging torque and Driving Torque pulsation simultaneously.The centralized winding of individual layer and fault-tolerant teeth structure can reduce being coupled between phase and phase, improve the fault freedom of motor.
The present invention is on der Geschwindigkeitkreis linear active disturbance rejection controller basis, design a new Nonlinear Tracking Differentiator (NewTD) to rotating speed transition process arranging, make fault-tolerant permagnetic synchronous motor can ensure non-overshoot amount and have rapid response speed in dynamic process.Specific embodiments comprises following steps:
1) the given n of tachometer value
*rotating speed transition signal v is obtained through designed novel Nonlinear Tracking Differentiator
1, this transient process function representation is
Wherein, n
*for rotary speed setting value, v
1for rotating speed transition signal, v
2for the differential signal of transition signal, k is the Turbo Factor function designed according to motor dynamics characteristic, and its expression formula is
Wherein, t represents system operation time, T
1, T
2, T
3represent three time points of system cloud gray model respectively, the relation between them is determined by motor electrical time constant and mechanical time constant, a
maxexpression system peak acceleration, a
texpression system real time acceleration,
represent the real-time Assumption torque disturbance of linear active disturbance rejection controller, h is torque feedback coefficient.
T
1, T
2, T
3the reflection of three parameters be relation between current response and rotating speed response, to this point be considered when choosing this three parameters, therefore needing to find a kind of constant that can reflect electromechanics and electrical characteristic.
If mechanical time constant t
m, electrical time constant t
e, the concrete method of measurement of two constants is:
T
m: on winding, add step voltage U, measure when angular speed reaches 63.2% of maximum angular rate the time used;
T
e: rotor is fixed, winding adds step voltage U, measure the required time when electric current reaches 63.2% of maximum current.
Fig. 3 is fault-tolerant magneto quadrature axis equivalent circuit diagram, and known motor electrical time constant is
mechanical time constant
l
qfor the q axle inductance of magneto, R
sfor motor stator resistance, J is electric machine rotation inertia.K
eand K
tbe back electromotive-force constant and electromagnetic torque constant respectively, their computing formula is respectively
with
(wherein p represents the number of pole-pairs of motor, ψ
rrepresent the rotor permanent magnet magnetic flux of motor), K as calculated
t=23.8K
e, t
m≈ 0.032, t
e≈ 0.004, t
m/ t
e≈ 8.For convenience of calculation, ratio is taken as 10, therefore T
1, T
2, T
3pass between three parameters is 8T
1=8 (T
3-T
2)=T
2-T
1.
In the Nonlinear Tracking Differentiator function of the present invention's design, the parameter choose of transient process Turbo Factor function k is: T
1=0.005, T
2=0.045, T
3=0.05, a
max=330, h=0.4.
Fig. 4 is the oscillogram of Turbo Factor function, therefrom can find out it and general direct current machine start or shock load time current waveform very similar.Utilize this Turbo Factor function, little (nothing) error that can realize in magneto dynamic process is run.
2) as shown in Figure 1, fault-tolerant permanent magnet machine rotor position θ is obtained by photoelectric encoder, 5s/2r coordinate transformation module changes phase current into d-q electric current, adopts 2r/2s coordinate transformation module to change d-q shaft voltage into alpha-beta shaft voltage, and calculates rotating speed n.
3) according to rotary speed setting value and speed feedback value, the speed ring linear active disturbance rejection controller shown in Fig. 5 is calculated.In Fig. 5, linear extended state observer to export the rotating speed of fault-tolerant control system for permanent-magnet synchronous motor and observation acquisition speed observation value z is carried out in the total disturbance of system
1with disturbance estimated value z
2, expression is
Wherein, e is the difference of measured value and actual value,
the differential signal of speed observation value,
be the differential signal of the total disturbance of system, u is automatic disturbance rejection controller output signal,
determined by system model, β
1, β
2for controller parameter.
Above observer is write as following matrix form further
Wherein,
Observer proper polynomial is
Observer is regarded as a second-order system, systematic function (as stability, response speed etc.) be made to meet some requirements, need adjustment feature polynomial parameters β
1, β
2.Because systematic function and characteristic root (i.e. the limit of ssystem transfer function) have much relations, observer energy reliable observation system mode be made, will make system features root entirely on the left of complex plane.The speed of system features root absolute value larger observer observer state amount is faster, but conference causes concussion, so two of system gain parameters are set to β excessively
1=2 ω
0,
make two POLE PLACEMENT USING of ssystem transfer function at-ω
0, to adjust observer bandwidth.
Linearity error Feedback Control Laws is by rotating speed transition signal v
1measured value z is exported with rotating speed
1error e
2original control signal u is obtained through proportional controller
0, then the controlled quentity controlled variable u of automatic disturbance rejection controller is obtained through disturbance compensation
Wherein, k
pfor proportional controller gain, usually get k
p=ω
c, claim controller bandwidth.
Observer bandwidth omega
0with controller bandwidth omega
cfollowing rule need be met
ω
0≈5-10ω
c(7)
In the present invention, the parameter of the fault-tolerant magneto chosen is: the number of phases is 5 phases, number of pole-pairs p=11, quadrature axis inductance L
q=0.48mH, stator resistance R
s=0.12 Ω, rotor flux ψ
f=0.06Wb, moment of inertia J=0.03kgm
2.Due to
obtain b
calculation=57.Controller parameter is chosen for ω
c=100, ω
0=500, get k
p=100, β
1=1000, β
2=250000.The parameter ω that need regulate is only had in visible controller
c, all the other parameters are all relevant to it.
4) as control signal u (i.e. quadrature axis current set-point that automatic disturbance rejection controller exports by Fig. 1
) as inner ring i
qthe input of controller is given obtains quadrature-axis voltage U
q, adopt i
d=0 control mode produces direct-axis voltage U
d.The conversion being tied to rest frame through rotational coordinates obtains the voltage U of rest frame alpha-beta axle
α, U
β, sent into the PWM ripple signal that space voltage vector SVPWM modulation module produces each phase of motor, the rotating speed realizing motor controls.
5) in order to the benefit of the linear active disturbance rejection controller adopting this kind of novel transition process is described, itself and PI controller have been carried out simulation comparison analysis, and in emulation, PI controller parameter is Kp=2, Ki=100.
Fig. 6 is the load torque disturbance quantity do not applied in the same time, as can be seen from the figure, applies the load torque of 30N ﹒ m, load torque removed again, observing rotation speed change in such cases when 200ms when 100ms.Fig. 7 adopts PI controller rotating speed response waveform, and can find out, when torque is risen, the maximum pulsation of rotating speed reaches 20r/min, and recovery time is 13ms; And after removing load, fluctuation of speed amount reaches 10r/min, and the time returning to given rotating speed reach 23ms; Fig. 8 is the rotating speed response waveform of the new controller adopting this patent, can find out, significantly change does not occur rotating speed, and the moment fluctuation of speed of load torque impact only has 6r/min, and only has 4ms recovery time; Load torque is prominent when unloading, and the fluctuation of speed only has 4r/min, and rotating speed only has 2ms recovery time.Based on the above, relative to conventional PI control device, the new controller of the present invention's design has very strong Ability of Resisting Disturbance, and shortens the time of system responses disturbance.
As can be seen from Figures 7 and 8, the time adopting PI controller to start is 55ms, and after adopting new controller of the present invention, system start-up time is 50ms.Under no-load condition, motor speed is adjusted to 400r/min from 800r/min respectively, then is adjusted to from 400r/min the time that 800/min observes its arrival stable state.Can find out from the rotating speed response comparison of wave shape of Fig. 9 and Figure 10, it is 35ms that Fig. 9 adopts the rotating speed of conventional PI control device to drop to 400r/min required time from 800r/min, and overshoot is 40r/min; Rising to 800r/min required time from 400r/min is 40ms, and overshoot is 30r/min; And Figure 10 adopts new controller rotating speed of the present invention to drop to 400r/min required time from 800r/min is 30ms; Rising to 800r/min required time from 400r/min is 30ms, all overshoot does not occur.Illustrate and adopt the system rotating speed response time of new controller of the present invention to shorten relative to conventional PI control device, more crucially overshoot does not occur.
Can learn from the above, adopt linear active disturbance rejection control method, abandon the nonlinear element in traditional automatic disturbance rejection controller, introduce the concept of bandwidth in classical control theory frequency-domain analysis method, the regulating parameter of automatic disturbance rejection controller is greatly reduced, after adopting new controller of the present invention, the robustness of system anti-disturbance improves, and the more important thing is that system response time shortens and non-overshoot.
In the description of this specification, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " illustrative examples ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, identical embodiment or example are not necessarily referred to the schematic representation of above-mentioned term.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.
Although illustrate and describe embodiments of the invention, those having ordinary skill in the art will appreciate that: can carry out multiple change, amendment, replacement and modification to these embodiments when not departing from principle of the present invention and aim, scope of the present invention is by claim and equivalents thereof.
Claims (6)
1. adopt a fault-tolerant magneto method for control speed for novel transition process, it is characterized in that, comprise the following steps:
S1, given motor speed value n
*, design a kind of Nonlinear Tracking Differentiator of novel transition process, obtain the real-time set-point v of motor speed
1; Described Nonlinear Tracking Differentiator according to motor dynamics characteristic transition process arranging, according to rotational speed setup n
*rational arrangement real-time rotate speed set-point v
1, by this transient process function representation be:
Wherein, n
*for rotary speed setting value, v
1for rotating speed transition signal, v
2for the differential signal of transition signal, k is the Turbo Factor designed according to motor dynamics characteristic;
S2, the rotor position of permagnetic synchronous motor is obtained by photoelectric encoder, fault-tolerant permanent magnet machine rotor position θ is obtained by photoelectric encoder, then phase current is changed into d-q electric current through 5s/2r coordinate transformation module, adopt 2r/2s coordinate transformation module to change d-q shaft voltage into alpha-beta shaft voltage, and calculate rotating speed n;
S3, according to rotary speed setting value v
1with speed feedback value n, speed ring linear active disturbance rejection controller is designed, linear extended state observer in speed ring linear active disturbance rejection controller to export the rotating speed of control system for permanent-magnet synchronous motor and the total disturbance of system is observed, and draws speed observation value z
1with disturbance estimated value z
2, finally provide the associated control parameters of linear active disturbance rejection controller;
S4, by control signal u (the i.e. quadrature axis current set-point obtained by linear active disturbance rejection controller
) given as inner ring q shaft current controller, and then realize electric machine speed regulation and control, the conversion being tied to rest frame through rotational coordinates obtains the voltage U of rest frame alpha-beta axle
α, U
β, sent into the PWM ripple signal that space voltage vector SVPWM modulation module produces each phase of motor, the rotating speed realizing motor controls.
2. a kind of fault-tolerant magneto method for control speed adopting novel transition process according to claim 1, it is characterized in that, in described step S1, the expression formula of Turbo Factor function is:
Wherein, t represents system operation time, T
1, T
2, T
3represent three time points of system cloud gray model respectively, the relation between them is determined by motor electrical time constant and mechanical time constant, a
maxexpression system peak acceleration, a
texpression system real time acceleration,
represent the real-time Assumption torque disturbance of linear active disturbance rejection controller, h is torque feedback coefficient.
3. a kind of fault-tolerant magneto method for control speed adopting novel transition process according to claim 2, is characterized in that, described T
1, T
2, T
3relation between three parameters meets 8T
1=8 (T
3-T
2)=T
2-T
1.
4. a kind of fault-tolerant magneto method for control speed adopting novel transition process according to claim 2, it is characterized in that, the parameter choose of described Turbo Factor function k is: T
1=0.005, T
2=0.045, T
3=0.05, a
max=330, h=0.4.
5. a kind of fault-tolerant magneto method for control speed adopting novel transition process according to claim 1, it is characterized in that, the detailed process of described step S3 is:
S3.1, sets up the linear extended state observer of control system for permanent-magnet synchronous motor, and linear extended state observer to export the rotating speed of fault-tolerant control system for permanent-magnet synchronous motor and observation acquisition speed observation value z is carried out in the total disturbance of system
1with disturbance estimated value z
2, expression is:
Wherein, e
1for the difference of measured value and actual value,
the differential signal of speed observation value,
be the differential signal of the total disturbance of system, u is the output signal of automatic disturbance rejection controller,
determined by system model, β
1, β
2for controller parameter;
S3.2, builds the proper polynomial of linear extended state observer, and the parameter beta in adjustment feature multinomial
1, β
2;
S3.3, according to linearity error Feedback Control Laws by rotating speed transition signal v
1measured value z is exported with rotating speed
1make difference and obtain error e
2, e
2original control signal u is obtained through a proportional controller
0, then the control signal u of automatic disturbance rejection controller is obtained through disturbance compensation:
Wherein, k
pfor proportional controller gain, usually get k
p=ω
c, claim controller bandwidth;
S3.4, finally provides observer bandwidth omega
0with controller bandwidth omega
cω need be met
0≈ 5-10 ω
c.
6. a kind of fault-tolerant magneto method for control speed adopting novel transition process according to claim 5, it is characterized in that, described controller bandwidth is ω
c=100, proportional controller gain k
p=100, observer bandwidth omega
0=500, controller parameter β
1=1000, β
2=250000.
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| CN108494304A (en) * | 2018-04-13 | 2018-09-04 | 曾喆昭 | The quasi- PI of three-phase permanent magnet synchronous motor disturbs sensing control method |
| CN109889113A (en) * | 2019-03-11 | 2019-06-14 | 中国科学院上海技术物理研究所 | A kind of magneto parameter scanning control system based on Active Disturbance Rejection Control |
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