onguntoglu / pyadrc Goto Github PK

• Generate a RandomSystem
• Implement ADRC without looking at the state space representation of the plant

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• Create control loop according to the following sequence:
  • Get reference signal
  • Calculate filtered reference signal
  • Get error signal e(k) = r_pre(k) - y(k)
  • Feed e(k) to feedback controller, calculate u(k)
  • Acquire y(k)
  • Repeat

• Modelling parameter b_0, optimal and suboptimal tuning
• Disturbance rejection

Second-order TransferFunction works in the opposite direction, needs tests and math check

• Closed-loop dynamics
• Magnitude and rate limiters
• Online parameter changes
• Incremental and lag-reduced form

To implement TransferFunction, the parameters of the numerator and the denominator of the reference prefilter and feedback controller need to be calculated:

• Calculate parameters using general terms (i.e. controller and observer gains) and bandwidth parametrization methods.
  The actual implementation will be using the general terms variant, since this method gives us the ability to implement half-gain tuning in the future.
• Write testcases to verify that both methods result in identical parameters

• Selecting the controller and observer poles through bandwidth parametrization
• Effects of noise on the closed-loop

Implement incremental form of StateSpace ADRC

• Incremental form
• Magnitude and rate limiter for incremental form
• Lag reduced transformation

• pyadrc version: 0.3.0 - 0.4.1
• Python version: 3.9.16
• Operating System: Win 10

Description

1. Need to change t_settle to w_cl for more recent pyadrc versions.
2. The disturbance rejection example seems to have problems for versions > 0.3.0

What I Did

Ran the Jupyter notebook for the different releases. With 0.3.0 I get this:

With 0.3.1 and more recent versions I get this:

Am I doing something wrong?

• Calculate coefficients from parameters
• Calculate denominator and numerator from the coefficients
• Write difference equation

• Parameter b0 -> Modelling parameter
• Dynamically change the observer poles
• Dynamically change the controller poles