The former is a robust auto - disturbance rejection controller ( adrc ) , which contains nonlinear tracking differentiator ( td ) , extended - states observer ( eso ) , nonlinear proportional derivative ( n - pd ) and compensation of unknown disturbance . the latter is using cmac & pd controller and conn & pd controller 首先,在关节空间设计了简单易行的强鲁棒性自抗扰控制器( adrc ) ,包括非线性跟踪微分器( td ) 、扩张状态观测器( eso ) 、非线性pd ( n - pd )和扰动补偿四个部分。
The nucleus is the software in the design and realization of virtual instruments . we use the design method of module and use many papers to describe the whole building process of the typical signal generation module , date handling module , date reading and writing module , resultdemonstrate module . as the conclusions , we also offer the panels and the diagrams of virtual signal frequency spectrum analytical instrument , virtual butterworth filter , virtual signal generation instrument , virtual integrator and differentiator regulator and amplitude modulation wave counter modulation instrument 本文采用模块化设计方法，详细描述了典型信号生成模块、数据处理模块、数据读取和存储模块、显示模块等软件开发的全过程，分析、解决了设计及实现过程中出现的问题，并给出了已实现的虚拟信号频谱分析仪、虚拟巴特沃斯滤波器、调幅波解调器、虚拟信号发生器、虚拟积分器和微分器等实验教学用虚拟仪器的前面板图和程序流程图。
The new adrc technique was concluded from the related references in recent years , and the adrc theory was systemically introduced , which included tracking - differentiator ( td ) , extended state observer ( eso ) , nonlinear pid , nonlinear feedback ( nf ) and active disturbance rejection controller ( adrc ) , and etc . the author first designs a pd attitude control system , indicating : using pd attitude control , the time of small satellite gesture capture is long and the precision of control is low 从近几年有关文献中总结了自抗扰控制新技术,系统介绍了自抗扰控制理论,其中包括跟踪微分器( td ) 、扩张状态观测器( eso ) 、非线性pid 、非线性反馈( nf )和自抗扰控制器( adrc )等。设计了主动磁控小卫星pd姿态控制系统。指出采用pd姿态控制,微小卫星姿态捕获时间较长,姿态控制精度较低。
