Estudo de aplicações do controlador ADRC utilizando o laboratório virtual iDymanic

Abstract

This work presents the detailed development of the mathematical equations of the Active Disturbance Rejection Control (ADRC) technique in its linear version, followed by an computational implementation of the controller. The development of the controller equations in their first and second order versions is presented, generalizing them to the controller in its N-th order. As from the computational implementation, three systems are considered for its validation: a mass block position control system, a liquid level control system and a temperature control system. All simulations were performed in the virtual laboratory of control systems iDynamic. The simulation results show that ADRC presents good smoothness for system reference changes, less wear and control effort when well configured, in addition, also its good adaptability to changes in plant physical quantities.