ZIP永磁同步电机ADRC 自抗扰控制 SIMULINK仿真模型 13.33MB

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ADRC 自抗扰控制资料.zip 大约有32个文件
  1. ADRC 自抗扰控制资料/adrc/
  2. ADRC 自抗扰控制资料/adrc/ADRC_2015/
  3. ADRC 自抗扰控制资料/adrc/ADRC_2015/ADRC_PMSM_NLSEF_2015a.slx 38.39KB
  4. ADRC 自抗扰控制资料/adrc/ADRC_2015/ADRC_PMSM_NLSEF_2015a.slx.r2015a 36.93KB
  5. ADRC 自抗扰控制资料/adrc/ADRC_2015/slprj/
  6. ADRC 自抗扰控制资料/adrc/ADRC_2015/slprj/_jitprj/
  7. ADRC 自抗扰控制资料/adrc/ADRC_2015/slprj/_jitprj/jitEngineAccessInfo.mat 726B
  8. ADRC 自抗扰控制资料/adrc/ADRC_2015/slprj/_jitprj/s7Rpo23eaQD6jW54fsKMCxD.l 9.78KB
  9. ADRC 自抗扰控制资料/adrc/ADRC_2015/slprj/_jitprj/s7Rpo23eaQD6jW54fsKMCxD.mat 693B
  10. ADRC 自抗扰控制资料/adrc/ADRC_2015/slprj/_sfprj/
  11. ADRC 自抗扰控制资料/adrc/ADRC_2015/slprj/_sfprj/ADRC_PMSM_NLSEF_2015a/
  12. ADRC 自抗扰控制资料/adrc/ADRC_2015/slprj/_sfprj/ADRC_PMSM_NLSEF_2015a/_self/
  13. ADRC 自抗扰控制资料/adrc/ADRC_2015/slprj/_sfprj/ADRC_PMSM_NLSEF_2015a/_self/sfun/
  14. ADRC 自抗扰控制资料/adrc/ADRC_2015/slprj/_sfprj/ADRC_PMSM_NLSEF_2015a/_self/sfun/info/
  15. ADRC 自抗扰控制资料/adrc/ADRC_2015/slprj/_sfprj/ADRC_PMSM_NLSEF_2015a/_self/sfun/info/binfo.mat 820B
  16. ADRC 自抗扰控制资料/adrc/ADRC_2015/slprj/_sfprj/EMLReport/
  17. ADRC 自抗扰控制资料/adrc/ADRC_2015/slprj/_sfprj/EMLReport/emlReportAccessInfo.mat 726B
  18. ADRC 自抗扰控制资料/adrc/ADRC_2015/slprj/_sfprj/EMLReport/s7Rpo23eaQD6jW54fsKMCxD.mat 29.81KB
  19. ADRC 自抗扰控制资料/adrc/ADRC_2015/slprj/_sfprj/EMLReport/s7Rpo23eaQD6jW54fsKMCxD/
  20. ADRC 自抗扰控制资料/adrc/ADRC_2015/slprj/_sfprj/precompile/
  21. ADRC 自抗扰控制资料/adrc/ADRC_2015/slprj/_sfprj/precompile/autoInferAccessInfo.mat 781B
  22. ADRC 自抗扰控制资料/adrc/ADRC_2015/slprj/_sfprj/precompile/kTD3KkjvALM18iPNZqxa1B.mat 619B
  23. ADRC 自抗扰控制资料/adrc/ADRC_2015/slprj/_sfprj/precompile/VEZOMWanDhQbtnNVyUakn.mat 600B
  24. ADRC 自抗扰控制资料/adrc/参考论文/
  25. ADRC 自抗扰控制资料/adrc/参考论文/基于跟踪微分器的非线性PID控制器设计.pdf 455.42KB
  26. ADRC 自抗扰控制资料/adrc/参考论文/基于自抗扰控制器的无刷直流电机调速系统的建模与仿真.nh 3.93MB
  27. ADRC 自抗扰控制资料/adrc/参考论文/斩波串级调速系统自抗扰控制策略研究.kdh 2.13MB
  28. ADRC 自抗扰控制资料/adrc/参考论文/自抗扰控制及其在一类热工控制系统中的应用研究.nh 3.67MB
  29. ADRC 自抗扰控制资料/adrc/参考论文/自抗扰控制器的动态参数整定及其应用.pdf 163.24KB
  30. ADRC 自抗扰控制资料/adrc/参考论文/自抗扰控制器设计方法应用研究.nh 3.44MB
  31. ADRC 自抗扰控制资料/adrc/参考论文/自抗扰控制系统参数整定方法的研究.kdh 1.18MB
  32. ADRC 自抗扰控制资料/从PID技术到自抗扰控制技术.pdf 226.26KB

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及其相关的参考论文
<link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/base.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/fancy.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/89611542/raw.css" rel="stylesheet"/><div id="sidebar" style="display: none"><div id="outline"></div></div><div class="pf w0 h0" data-page-no="1" id="pf1"><div class="pc pc1 w0 h0"><img alt="" class="bi x0 y0 w1 h1" src="/image.php?url=https://csdnimg.cn/release/download_crawler_static/89611542/bg1.jpg"/><div class="c x0 y1 w2 h2"><div class="t m0 x1 h3 y2 ff1 fs0 fc0 sc0 ls0 ws0">2<span class="_ _0"></span>0<span class="_ _0"></span>1<span class="_ _0"></span>0<span class="_ _1"> </span><span class="ff2">第<span class="_ _2"> </span></span>0<span class="_ _0"></span>2<span class="_ _1"> </span><span class="ff2">期</span></div><div class="t m0 x2 h4 y3 ff3 fs1 fc0 sc0 ls0 ws0">测试测量技术</div><div class="t m1 x3 h5 y4 ff3 fs2 fc0 sc0 ls0 ws0">基于跟踪微分器的非线性<span class="_ _3"> </span><span class="ff1">PI<span class="_ _4"></span>D<span class="_ _3"> </span><span class="ff3">控制器设计</span></span></div><div class="t m2 x4 h6 y5 ff1 fs3 fc0 sc0 ls0 ws0">Nonlinear<span class="_ _1"> </span>Tracking-dif<span class="_ _4"></span>ferentiator-<span class="_ _4"></span>based<span class="_ _5"> </span>PI<span class="_ _4"></span>D<span class="_ _5"> </span>Controller<span class="_ _1"> </span>Design</div><div class="t m0 x5 h7 y6 ff2 fs4 fc0 sc0 ls0 ws0">高天龙，<span class="_ _6"></span>秦开宇，<span class="_ _6"></span>何衡湘<span class="_ _7"></span><span class="ff3">（<span class="_ _8"></span>电子科技大学空天科学技术研究院，<span class="_ _6"></span>四川<span class="_ _2"> </span>成都<span class="_ _1"> </span><span class="ff1">610054<span class="_ _9"></span><span class="ff3">）</span></span></span></div><div class="t m0 x5 h8 y7 ff4 fs5 fc0 sc0 ls0 ws0">!<span class="ff1">ao<span class="_ _2"> </span>Tian-long,<span class="_ _a"> </span>Qin<span class="_ _a"> </span>Kai-yu,<span class="_ _a"> </span>He<span class="_ _a"> </span>Heng-xiang<span class="_ _b"> </span>(School<span class="_ _a"> </span>of<span class="_ _a"> </span>Aerospace<span class="_ _a"> </span>Science<span class="_ _2"> </span>and<span class="_ _a"> </span>Technology<span class="_ _a"> </span>Research<span class="_ _a"> </span>Institute,</span></div><div class="t m0 x5 h9 y8 ff1 fs5 fc0 sc0 ls0 ws0">Univers<span class="_ _4"></span>ity<span class="_ _a"> </span>of<span class="_ _a"> </span>Electronic<span class="_ _a"> </span>Science<span class="_ _a"> </span>and<span class="_ _a"> </span>Technology<span class="_ _a"> </span>of<span class="_ _a"> </span>China,<span class="_ _a"> </span>Sichuan<span class="_ _a"> </span>Chengdu<span class="_ _a"> </span>610054</div><div class="t m0 x6 ha y9 ff3 fs5 fc0 sc0 ls0 ws0">）</div><div class="t m3 x7 hb ya ff2 fs6 fc0 sc0 ls0 ws0">摘<span class="_ _b"> </span>要：</div><div class="t m4 x8 ha yb ff3 fs5 fc0 sc0 ls0 ws0">文章介绍了基于跟踪<span class="_ _0"></span>微分器的非线性<span class="_ _a"> </span><span class="ff1">PID<span class="_ _a"> </span></span>控制系统，<span class="_ _c"></span>并做出算法仿真<span class="ff5">。<span class="_ _d"></span><span class="ff3">仿真结果表明，<span class="_ _c"></span>跟踪微分器具</span></span></div><div class="t m4 x7 ha yc ff3 fs5 fc0 sc0 ls0 ws0">有较好<span class="_ _0"></span>的滤波特<span class="_ _0"></span>性，<span class="_ _c"></span>并<span class="_ _0"></span>且基于跟<span class="_ _0"></span>踪微分<span class="_ _0"></span>器的非线<span class="_ _0"></span>性</div><div class="t m4 x9 ha yd ff1 fs5 fc0 sc0 ls0 ws0">PID<span class="_ _a"> </span><span class="ff3">控制器<span class="_ _0"></span>，<span class="_ _c"></span>在<span class="_ _0"></span>噪声<span class="_ _0"></span>扰动<span class="_ _0"></span>下，<span class="_ _e"></span>体<span class="_ _0"></span>现了较<span class="_ _0"></span>强<span class="_ _0"></span>的抗<span class="_ _0"></span>噪声<span class="_ _0"></span>能力<span class="_ _0"></span>，</span></div><div class="t m4 x7 ha ye ff3 fs5 fc0 sc0 ls0 ws0">并可无超调的跟踪原<span class="_ _0"></span>始信号<span class="ff5">。</span></div><div class="t m3 x7 hb yf ff2 fs6 fc0 sc0 ls0 ws0">关键词：</div><div class="t m4 xa ha y10 ff3 fs5 fc0 sc0 ls0 ws0">跟踪微分器；<span class="_ _c"></span><span class="ff1">PID<span class="_ _a"> </span><span class="ff3">控制器；<span class="_ _c"></span>非线性</span></span></div><div class="t m3 x7 hb y11 ff2 fs6 fc0 sc0 ls0 ws0">中图分类号：</div><div class="t m4 xb h9 y12 ff1 fs5 fc0 sc0 ls0 ws0">TP214</div><div class="t m3 xc hb y11 ff2 fs6 fc0 sc0 ls0 ws0">文献标识码：</div><div class="t m4 xd h9 y12 ff1 fs5 fc0 sc0 ls0 ws0">A</div><div class="t m3 xe hb y11 ff2 fs6 fc0 sc0 ls0 ws0">文章编号：</div><div class="t m4 xf h9 y12 ff1 fs5 fc0 sc0 ls0 ws0">1003-0107(2010)02-0001-03</div><div class="t m5 x7 hc y13 ff1 fs7 fc0 sc0 ls0 ws0">Abstract:<span class="_ _f"> </span>This<span class="_ _a"> </span>article<span class="_ _10"> </span>describes<span class="_ _10"> </span>the<span class="_ _10"> </span>nonlinear<span class="_ _10"> </span>tracking-dif<span class="_ _4"></span>ferentiator-<span class="_ _4"></span>based<span class="_ _10"> </span>PID<span class="_ _10"> </span>control<span class="_ _a"> </span>system<span class="_ _4"></span>,<span class="_ _a"> </span>and<span class="_ _a"> </span>to<span class="_ _a"> </span>make<span class="_ _a"> </span>Algor<span class="_ _4"></span>ithm<span class="_ _a"> </span>Simulation.<span class="_ _10"> </span>Simulation</div><div class="t m5 x7 hc y14 ff1 fs7 fc0 sc0 ls0 ws0">results<span class="_ _10"> </span>show<span class="_ _a"> </span>that<span class="_ _a"> </span>tracking<span class="_ _10"> </span>differentiator<span class="_ _10"> </span>has<span class="_ _a"> </span>good<span class="_ _a"> </span>filtering<span class="_ _10"> </span>properties,<span class="_ _a"> </span>and<span class="_ _a"> </span>the<span class="_ _a"> </span>nonlinear<span class="_ _a"> </span>tracking-d<span class="_ _4"></span>ifferentiato<span class="_ _4"></span>r-based<span class="_ _10"> </span>PID<span class="_ _a"> </span>controller.<span class="_ _a"> </span>The<span class="_ _a"> </span>noise</div><div class="t m5 x7 hc y15 ff1 fs7 fc0 sc0 ls0 ws0">disturban<span class="_ _4"></span>ce,<span class="_ _10"> </span>the<span class="_ _10"> </span>expres<span class="_ _4"></span>sion<span class="_ _10"> </span>of<span class="_ _11"> </span>strong<span class="_ _11"> </span>anti-noise<span class="_ _11"> </span>capability,<span class="_ _11"> </span>and<span class="_ _10"> </span>can<span class="_ _10"> </span>not<span class="_ _11"> </span>track<span class="_ _10"> </span>the<span class="_ _10"> </span>orig<span class="_ _4"></span>inal<span class="_ _10"> </span>sig<span class="_ _4"></span>nal<span class="_ _10"> </span>overs<span class="_ _4"></span>hoot.</div><div class="t m5 x7 hc y16 ff1 fs7 fc0 sc0 ls0 ws0">Key<span class="_ _11"> </span>words:<span class="_ _1"> </span>Tracking<span class="_ _11"> </span>differentiator;<span class="_ _11"> </span>PID<span class="_ _11"> </span>controller;<span class="_ _11"> </span>non-linear</div><div class="t m5 x7 hd y17 ff1 fs7 fc0 sc0 ls0 ws0">CLC<span class="_ _11"> </span>number:<span class="_ _11"> </span>TP214<span class="_ _12"> </span>Documen<span class="_ _4"></span>t<span class="_ _10"> </span>code:A<span class="_ _13"> </span>Article<span class="_ _11"> </span>ID<span class="ff3">：<span class="_ _d"></span><span class="ff1">1<span class="_ _4"></span>003-0107(<span class="_ _4"></span>2010)02-0<span class="_ _4"></span>001-03</span></span></div><div class="t m0 x2 h4 y3 ff3 fs1 fc0 sc0 ls0 ws0">测试测量技术</div><div class="t m0 x10 he y18 ff1 fs3 fc0 sc0 ls0 ws0">1<span class="_ _14"> </span><span class="ff3">引言</span></div><div class="t m0 x11 h7 y19 ff3 fs4 fc0 sc0 ls0 ws0">在光<span class="_ _0"></span>电跟踪<span class="_ _0"></span>系<span class="_ _0"></span>统的<span class="_ _0"></span>一<span class="_ _0"></span>些重<span class="_ _0"></span>要<span class="_ _0"></span>应用<span class="_ _0"></span>中<span class="_ _0"></span>，对<span class="_ _0"></span>跟<span class="_ _0"></span>踪瞄<span class="_ _0"></span>准<span class="_ _0"></span>精度<span class="_ _0"></span>提</div><div class="t m0 x10 h7 y1a ff3 fs4 fc0 sc0 ls0 ws0">出<span class="_ _0"></span>极<span class="_ _0"></span>高<span class="_ _0"></span>的<span class="_ _0"></span>要求<span class="_ _0"></span>，<span class="_ _15"></span>这<span class="_ _0"></span>时<span class="_ _0"></span>，<span class="_ _6"></span>负<span class="_ _0"></span>载<span class="_ _0"></span>惯<span class="_ _0"></span>性<span class="_ _0"></span>距<span class="_ _0"></span>的<span class="_ _0"></span>变<span class="_ _0"></span>化<span class="_ _0"></span>，<span class="_ _6"></span>摩<span class="_ _0"></span>擦<span class="_ _0"></span>力<span class="_ _0"></span>矩<span class="_ _0"></span>和<span class="_ _0"></span>扰<span class="_ _16"></span>动<span class="_ _0"></span>力</div><div class="t m0 x10 h7 y1b ff3 fs4 fc0 sc0 ls0 ws0">矩的<span class="_ _0"></span>影响<span class="_ _0"></span>可能是<span class="_ _0"></span>不可轻<span class="_ _0"></span>视的<span class="_ _0"></span>误差<span class="_ _0"></span>源<span class="_ _0"></span><span class="ff5">。<span class="_ _0"></span></span>这些<span class="_ _0"></span>误<span class="_ _0"></span>差源<span class="_ _0"></span>的<span class="_ _0"></span>性质<span class="_ _0"></span>一<span class="_ _0"></span>般</div><div class="t m0 x10 h7 y1c ff3 fs4 fc0 sc0 ls0 ws0">是非<span class="_ _0"></span>线性<span class="_ _0"></span>的﹑<span class="_ _6"></span>非平<span class="_ _0"></span>稳的和<span class="_ _0"></span>具有<span class="_ _0"></span>随机<span class="_ _0"></span>的性<span class="_ _0"></span>质<span class="_ _0"></span>，<span class="_ _6"></span>用线<span class="_ _0"></span>性<span class="_ _0"></span>控制<span class="_ _0"></span>理<span class="_ _0"></span>论难</div><div class="t m0 x10 h7 y1d ff3 fs4 fc0 sc0 ls0 ws0">以分析和<span class="_ _0"></span>提供满意的解<span class="_ _0"></span>决办法<span class="ff5">。<span class="_ _7"></span><span class="ff3">在<span class="_ _0"></span>此，<span class="_ _17"></span>本文在<span class="_ _0"></span>以音圈电机为致</span></span></div><div class="t m0 x10 h7 y1e ff3 fs4 fc0 sc0 ls0 ws0">动器<span class="_ _0"></span>的快速<span class="_ _0"></span>反射<span class="_ _0"></span>镜模型<span class="_ _0"></span>基础<span class="_ _0"></span>上，<span class="_ _0"></span>提<span class="_ _0"></span>出了<span class="_ _0"></span>基<span class="_ _0"></span>于跟<span class="_ _0"></span>踪<span class="_ _0"></span>微分<span class="_ _0"></span>器<span class="_ _0"></span>算法</div><div class="t m0 x10 h7 y1f ff3 fs4 fc0 sc0 ls0 ws0">原<span class="_ _0"></span>理的<span class="_ _0"></span>无<span class="_ _0"></span>模型<span class="_ _0"></span>控<span class="_ _0"></span>制器<span class="_ _0"></span>的<span class="_ _0"></span>设计<span class="_ _0"></span>，无<span class="_ _0"></span>模<span class="_ _0"></span>型<span class="_ _0"></span>控<span class="_ _0"></span>制<span class="_ _0"></span>器<span class="_ _0"></span>不<span class="_ _0"></span>仅<span class="_ _0"></span>继<span class="_ _0"></span>承<span class="_ _0"></span>了<span class="_ _5"> </span><span class="ff1">PID</span></div><div class="t m0 x10 h7 y20 ff3 fs4 fc0 sc0 ls0 ws0">控制<span class="_ _0"></span>器的<span class="_ _0"></span>优点<span class="_ _0"></span>，而且还<span class="_ _0"></span>具备<span class="_ _0"></span>智能<span class="_ _0"></span>控<span class="_ _0"></span>制器<span class="_ _0"></span>和<span class="_ _0"></span>自适<span class="_ _0"></span>应<span class="_ _0"></span>控制<span class="_ _0"></span>器<span class="_ _0"></span>的重</div><div class="t m0 x10 h7 y21 ff3 fs4 fc0 sc0 ls0 ws0">要特<span class="_ _0"></span>点，<span class="_ _6"></span>所以<span class="_ _0"></span>此控<span class="_ _0"></span>制器对<span class="_ _0"></span>非线<span class="_ _0"></span>性﹑<span class="_ _6"></span>大时<span class="_ _0"></span>滞<span class="_ _0"></span><span class="ff5">、<span class="_ _6"></span><span class="ff3">时<span class="_ _0"></span>变<span class="ff5">、<span class="_ _15"></span><span class="ff3">强耦<span class="_ _0"></span>合<span class="_ _0"></span>系统<span class="_ _0"></span>有</span></span></span></span></div><div class="t m0 x10 h7 y22 ff3 fs4 fc0 sc0 ls0 ws0">良好的控<span class="_ _0"></span>制效果<span class="ff5">。</span></div><div class="t m0 x10 he y23 ff1 fs3 fc0 sc0 ls0 ws0">2<span class="_ _b"> </span><span class="ff3">跟踪微分器</span></div><div class="t m0 x11 h7 y24 ff3 fs4 fc0 sc0 ls0 ws0">跟<span class="_ _0"></span>踪<span class="_ _0"></span>微<span class="_ _0"></span>分器<span class="_ _0"></span>是<span class="_ _0"></span>由<span class="_ _0"></span>韩<span class="_ _0"></span>京<span class="_ _0"></span>清<span class="_ _0"></span>提<span class="_ _0"></span>出<span class="_ _0"></span>的<span class="_ _0"></span>提<span class="_ _16"></span>取<span class="_ _0"></span>微<span class="_ _0"></span>分<span class="_ _0"></span>信<span class="_ _16"></span>号<span class="_ _0"></span>的<span class="_ _0"></span>方<span class="_ _16"></span>法<span class="_ _0"></span>，<span class="_ _15"></span>它</div><div class="t m0 x10 h7 y25 ff3 fs4 fc0 sc0 ls0 ws0">具有<span class="_ _0"></span>较好<span class="_ _0"></span>的滤波<span class="_ _0"></span>性能<span class="_ _0"></span><span class="ff5">、<span class="_ _17"></span><span class="ff3">安<span class="_ _0"></span>排过<span class="_ _0"></span>渡过<span class="_ _0"></span>程和<span class="_ _0"></span>相<span class="_ _0"></span>位超<span class="_ _0"></span>前<span class="_ _0"></span>等功<span class="_ _0"></span>能<span class="_ _0"></span>，<span class="_ _6"></span>跟<span class="_ _0"></span>踪</span></span></div><div class="t m0 x10 h7 y26 ff3 fs4 fc0 sc0 ls0 ws0">微分<span class="_ _0"></span>器最<span class="_ _0"></span>初提<span class="_ _0"></span>出的目<span class="_ _0"></span>的是<span class="_ _0"></span>为了较<span class="_ _0"></span>好<span class="_ _0"></span>的解<span class="_ _0"></span>决<span class="_ _0"></span>由不<span class="_ _0"></span>连<span class="_ _0"></span>续或<span class="_ _0"></span>带噪<span class="_ _0"></span>声</div><div class="t m0 x10 h7 y27 ff3 fs4 fc0 sc0 ls0 ws0">的量<span class="_ _0"></span>测信<span class="_ _0"></span>号合理<span class="_ _0"></span>提取<span class="_ _0"></span>连续信<span class="_ _0"></span>号及<span class="_ _0"></span>微<span class="_ _0"></span>分的<span class="_ _0"></span>问<span class="_ _0"></span>题，<span class="_ _0"></span>并<span class="_ _0"></span>逐渐<span class="_ _0"></span>发展<span class="_ _0"></span>成</div><div class="t m0 x10 h7 y28 ff3 fs4 fc0 sc0 ls0 ws0">便于计算<span class="_ _0"></span>的跟踪微分器<span class="_ _0"></span><span class="ff5">。</span></div><div class="t m0 x11 h7 y29 ff3 fs4 fc0 sc0 ls0 ws0">二阶跟踪微<span class="_ _0"></span>分器的方程为<span class="_ _0"></span>：</div><div class="t m0 x12 hf y2a ff4 fs4 fc0 sc0 ls0 ws0">"</div><div class="t m0 x13 h10 y2b ff1 fs8 fc0 sc0 ls0 ws0">1</div><div class="t m0 x14 h11 y2a ff1 fs4 fc0 sc0 ls0 ws0">=x</div><div class="t m0 x15 h10 y2b ff1 fs8 fc0 sc0 ls0 ws0">2</div><div class="t m0 x12 hf y2c ff4 fs4 fc0 sc0 ls0 ws0">"</div><div class="t m0 x13 h10 y2d ff1 fs8 fc0 sc0 ls0 ws0">2</div><div class="t m0 x14 h11 y2c ff1 fs4 fc0 sc0 ls0 ws0">=-<span class="_ _a"> </span>Rsat<span class="_ _4"></span>[<span class="_ _4"></span>x</div><div class="t m0 x16 h10 y2d ff1 fs8 fc0 sc0 ls0 ws0">1</div><div class="t m0 x17 h11 y2c ff1 fs4 fc0 sc0 ls0 ws0">-<span class="_ _a"> </span>v<span class="_ _4"></span>(<span class="_ _7"></span>t)<span class="_ _7"></span>+</div><div class="t m0 x4 h11 y2e ff1 fs4 fc0 sc0 ls0 ws0">x</div><div class="t m0 x18 h10 y2f ff1 fs8 fc0 sc0 ls0 ws0">2</div><div class="t m0 x5 h12 y2e ff6 fs4 fc0 sc0 ls0 ws0">│<span class="ff1">x</span></div><div class="t m0 x19 h10 y2f ff1 fs8 fc0 sc0 ls0 ws0">2</div><div class="t m0 x1a h12 y2e ff6 fs4 fc0 sc0 ls0 ws0">│</div><div class="t m0 x1b h11 y30 ff1 fs4 fc0 sc0 ls0 ws0">2R</div><div class="t m6 x1c h13 y31 ff7 fs9 fc0 sc0 ls0 ws0">!</div><div class="t m0 x1d h11 y2c ff1 fs4 fc0 sc0 ls0 ws0">]</div><div class="t m0 x1e h11 y32 ff1 fs4 fc0 sc0 ls0 ws0">(<span class="_ _7"></span>1)</div><div class="t m0 x11 h7 y33 ff3 fs4 fc0 sc0 ls0 ws0">式中<span class="_ _1"> </span><span class="ff1">v<span class="_ _4"></span>(<span class="_ _7"></span>t)<span class="_ _7"></span><span class="ff3">为它<span class="_ _0"></span>的输<span class="_ _0"></span>入信号<span class="_ _0"></span>，<span class="_ _17"></span><span class="ff1">x</span></span></span></div><div class="t m0 xb h10 y34 ff1 fs8 fc0 sc0 ls0 ws0">1</div><div class="t m0 x1f h7 y33 ff3 fs4 fc0 sc0 ls0 ws0">是跟<span class="_ _0"></span>踪<span class="_ _1"> </span><span class="ff1">v<span class="_ _4"></span>(<span class="_ _7"></span>t)<span class="_ _7"></span><span class="ff3">，<span class="_ _17"></span><span class="ff1">x</span></span></span></div><div class="t m0 x20 h10 y34 ff1 fs8 fc0 sc0 ls0 ws0">2</div><div class="t m0 x21 h7 y33 ff3 fs4 fc0 sc0 ls0 ws0">为<span class="_ _1"> </span><span class="ff1">v<span class="_ _4"></span>(<span class="_ _7"></span>t)<span class="_ _4"></span><span class="ff3">的近似<span class="_ _0"></span>微</span></span></div><div class="t m0 x10 h7 y35 ff3 fs4 fc0 sc0 ls0 ws0">分，<span class="_ _17"></span>其<span class="_ _0"></span>中</div><div class="t m0 x11 hf y36 ff1 fs4 fc0 sc0 ls0 ws0">sat<span class="_ _4"></span>(<span class="_ _7"></span>x<span class="_ _4"></span>,<span class="ff4">%</span>)<span class="_ _7"></span>=</div><div class="t m0 x16 h11 y37 ff1 fs4 fc0 sc0 ls0 ws0">A</div><div class="t m0 x22 hf y38 ff4 fs4 fc0 sc0 ls0 ws0">&amp;</div><div class="t m0 x23 h12 y39 ff1 fs4 fc0 sc0 ls0 ws0">,<span class="_ _18"> </span><span class="ff6">│</span>A<span class="_ _4"></span><span class="ff6">│≤<span class="ff4">’<span class="ff1">,</span>(<span class="ff1">&gt;0</span></span></span></div><div class="t m0 x24 hf y3a ff1 fs4 fc0 sc0 ls0 ws0">sig<span class="_ _7"></span>n(<span class="_ _7"></span>A<span class="_ _4"></span>)<span class="_ _4"></span>,<span class="_ _19"> </span><span class="ff4">)</span>&gt;</div><div class="t m6 x25 h13 y3b ff7 fs9 fc0 sc0 ls0 ws0">!</div><div class="t m0 x1a h11 y3a ff1 fs4 fc0 sc0 ls0 ws0">0</div><div class="t m0 x26 h7 y3c ff3 fs4 fc0 sc0 ls0 ws0">跟踪微分器<span class="_ _0"></span>的离散化公式<span class="_ _0"></span>如式<span class="_ _c"></span>（<span class="_ _8"></span><span class="ff1">2<span class="_ _9"></span><span class="ff3">）<span class="_ _d"></span>所<span class="_ _0"></span>示</span></span></div><div class="t m0 x27 h11 y3d ff1 fs4 fc0 sc0 ls0 ws0">x</div><div class="t m0 x28 h10 y3e ff1 fs8 fc0 sc0 ls0 ws0">1</div><div class="t m0 x29 h11 y3d ff1 fs4 fc0 sc0 ls0 ws0">(<span class="_ _7"></span>k+1)<span class="_ _7"></span>=x</div><div class="t m0 x2a h10 y3e ff1 fs8 fc0 sc0 ls0 ws0">1</div><div class="t m0 x2b hf y3d ff1 fs4 fc0 sc0 ls0 ws0">(<span class="_ _7"></span>k)<span class="_ _4"></span>+<span class="_ _4"></span><span class="ff4">*<span class="ff1">x</span></span></div><div class="t m0 x2c h10 y3e ff1 fs8 fc0 sc0 ls0 ws0">2</div><div class="t m0 x2d h11 y3d ff1 fs4 fc0 sc0 ls0 ws0">(<span class="_ _7"></span>k)</div><div class="t m0 x27 h11 y3f ff1 fs4 fc0 sc0 ls0 ws0">x</div><div class="t m0 x28 h10 y40 ff1 fs8 fc0 sc0 ls0 ws0">2</div><div class="t m0 x29 h11 y41 ff1 fs4 fc0 sc0 ls0 ws0">(<span class="_ _7"></span>k+1)<span class="_ _7"></span>=x</div><div class="t m0 x2a h10 y40 ff1 fs8 fc0 sc0 ls0 ws0">2</div><div class="t m0 x2b hf y41 ff1 fs4 fc0 sc0 ls0 ws0">(<span class="_ _7"></span>k)<span class="_ _4"></span>+<span class="_ _4"></span><span class="ff4">+<span class="ff1">S</span></span></div><div class="t m0 x2c h10 y40 ff1 fs8 fc0 sc0 ls0 ws0">r</div><div class="t m0 x2d h11 y41 ff1 fs4 fc0 sc0 ls0 ws0">(<span class="_ _7"></span>x</div><div class="t m0 x2e h10 y40 ff1 fs8 fc0 sc0 ls0 ws0">1</div><div class="t m0 x2f h11 y41 ff1 fs4 fc0 sc0 ls0 ws0">,x</div><div class="t m0 x30 h10 y40 ff1 fs8 fc0 sc0 ls0 ws0">2</div><div class="t m0 x31 h11 y41 ff1 fs4 fc0 sc0 ls0 ws0">,v<span class="_ _4"></span>,r<span class="_ _4"></span>,h</div><div class="t m7 x32 h14 y42 ff7 fsa fc0 sc0 ls0 ws0">!</div><div class="t m0 x33 h11 y41 ff1 fs4 fc0 sc0 ls0 ws0">)</div><div class="t m0 x34 h11 y43 ff1 fs4 fc0 sc0 ls0 ws0">(<span class="_ _7"></span>2)</div><div class="t m0 x26 h7 y44 ff3 fs4 fc0 sc0 ls0 ws0">式中，<span class="_ _17"></span><span class="ff1">r<span class="_ _1"> </span><span class="ff3">是决定<span class="_ _0"></span>跟踪快慢的参<span class="_ _0"></span>数，<span class="_ _d"></span><span class="ff4">,<span class="_ _1"> </span><span class="ff3">为<span class="_ _0"></span>数值的积分<span class="_ _0"></span>步长，</span></span></span></span></div><div class="t m0 x35 h11 y45 ff1 fs4 fc0 sc0 ls0 ws0">S</div><div class="t m0 x36 h10 y46 ff1 fs8 fc0 sc0 ls0 ws0">r</div><div class="t m0 x37 h7 y45 ff3 fs4 fc0 sc0 ls0 ws0">定义如下</div><div class="t m0 x27 hf y47 ff4 fs4 fc0 sc0 ls0 ws0">-<span class="ff1">=rh,</span>.</div><div class="t m0 x38 h10 y48 ff1 fs8 fc0 sc0 ls0 ws0">0</div><div class="t m0 x39 hf y47 ff1 fs4 fc0 sc0 ls0 ws0">=<span class="ff4">/</span>h,</div><div class="t m0 x27 h11 y49 ff1 fs4 fc0 sc0 ls0 ws0">y<span class="_ _4"></span>=<span class="_ _4"></span>x</div><div class="t m0 x3a h10 y4a ff1 fs8 fc0 sc0 ls0 ws0">1</div><div class="t m0 x3b h11 y49 ff1 fs4 fc0 sc0 ls0 ws0">-<span class="_ _a"> </span>v<span class="_ _4"></span>+hx</div><div class="t m0 x3c h10 y4a ff1 fs8 fc0 sc0 ls0 ws0">2</div><div class="t m0 x3d h11 y49 ff1 fs4 fc0 sc0 ls0 ws0">,w</div><div class="t m0 x6 h10 y4a ff1 fs8 fc0 sc0 ls0 ws0">0</div><div class="t m0 x3e h11 y49 ff1 fs4 fc0 sc0 ls0 ws0">=</div><div class="t m0 x3f h11 y4b ff1 fs4 fc0 sc0 ls0 ws0">d</div><div class="t m0 x40 h10 y4c ff1 fs8 fc0 sc0 ls0 ws0">2</div><div class="t m0 x2e h12 y4b ff1 fs4 fc0 sc0 ls0 ws0">+8r<span class="ff6">│</span>y<span class="_ _7"></span><span class="ff6">│</span></div><div class="t m0 x41 h15 y4d ff7 fs4 fc0 sc0 ls0 ws0">"</div><div class="t m0 x27 h11 y4e ff1 fs4 fc0 sc0 ls0 ws0">w<span class="_ _8"></span>=</div><div class="t m0 x3b h11 y4f ff1 fs4 fc0 sc0 ls0 ws0">x</div><div class="t m0 x42 h10 y50 ff1 fs8 fc0 sc0 ls0 ws0">2</div><div class="t m0 x43 h11 y4f ff1 fs4 fc0 sc0 ls0 ws0">+0.5(<span class="_ _7"></span>w</div><div class="t m0 x44 h10 y50 ff1 fs8 fc0 sc0 ls0 ws0">0</div><div class="t m0 x6 h12 y4f ff1 fs4 fc0 sc0 ls0 ws0">-<span class="_ _a"> </span><span class="ff4">0</span>)<span class="_ _4"></span>si<span class="_ _4"></span>g<span class="_ _4"></span>n(<span class="_ _7"></span>y<span class="_ _4"></span>)<span class="_ _1a"> </span><span class="ff6">│</span>y<span class="_ _4"></span><span class="ff6">│<span class="ff1">&gt;<span class="_ _4"></span><span class="ff4">1</span></span></span></div><div class="t m0 x45 h10 y50 ff1 fs8 fc0 sc0 ls0 ws0">0</div><div class="t m0 x3b h11 y51 ff1 fs4 fc0 sc0 ls0 ws0">x</div><div class="t m0 x42 h10 y52 ff1 fs8 fc0 sc0 ls0 ws0">2</div><div class="t m0 x43 h12 y51 ff1 fs4 fc0 sc0 ls0 ws0">+y<span class="_ _7"></span>/h<span class="_ _1b"> </span><span class="ff6">│</span>y<span class="_ _4"></span><span class="ff6">│≤<span class="ff4">2</span></span></div><div class="t m0 x46 h10 y52 ff1 fs8 fc0 sc0 ls0 ws0">0</div><div class="t m7 x47 h14 y53 ff7 fsa fc0 sc0 ls0 ws0">!</div><div class="t m0 x27 h11 y54 ff1 fs4 fc0 sc0 ls0 ws0">S</div><div class="t m0 x28 h10 y55 ff1 fs8 fc0 sc0 ls0 ws0">r</div><div class="t m0 x29 h11 y54 ff1 fs4 fc0 sc0 ls0 ws0">=</div><div class="t m0 x3b h11 y56 ff1 fs4 fc0 sc0 ls0 ws0">-<span class="_ _a"> </span>rsig<span class="_ _7"></span>n(<span class="_ _4"></span>w<span class="_ _8"></span>)</div><div class="t m0 x48 h12 y57 ff6 fs4 fc0 sc0 ls0 ws0">│<span class="ff1">w<span class="_ _8"></span><span class="ff6">│<span class="ff1">&gt;<span class="ff4">3</span></span></span></span></div><div class="t m0 x3b h12 y58 ff1 fs4 fc0 sc0 ls0 ws0">-<span class="_ _a"> </span>rw<span class="_ _7"></span>/<span class="ff4">4<span class="_ _1c"> </span><span class="ff6">│</span></span>w<span class="_ _8"></span><span class="ff6">│≤</span></div><div class="t m7 x47 h14 y59 ff7 fsa fc0 sc0 ls0 ws0">!</div><div class="t m0 x49 hf y58 ff4 fs4 fc0 sc0 ls0 ws0">5</div><div class="t m0 x32 h16 y5a ff7 fsb fc0 sc0 ls0 ws0">#</div><div class="t m0 x4a h16 y5b ff7 fsb fc0 sc0 ls0 ws0">%</div><div class="t m0 x4a h16 y5c ff7 fsb fc0 sc0 ls0 ws0">%</div><div class="t m0 x4a h16 y5d ff7 fsb fc0 sc0 ls0 ws0">%</div><div class="t m0 x4a h16 y5e ff7 fsb fc0 sc0 ls0 ws0">%</div><div class="t m0 x4a h16 y5f ff7 fsb fc0 sc0 ls0 ws0">%</div><div class="t m0 x4a h16 y60 ff7 fsb fc0 sc0 ls0 ws0">%</div><div class="t m0 x4a h16 y61 ff7 fsb fc0 sc0 ls0 ws0">%</div><div class="t m0 x4a h16 y62 ff7 fsb fc0 sc0 ls0 ws0">%</div><div class="t m0 x4a h16 y63 ff7 fsb fc0 sc0 ls0 ws0">%</div><div class="t m0 x32 h16 y64 ff7 fsb fc0 sc0 ls0 ws0">$</div><div class="t m0 x4a h16 y65 ff7 fsb fc0 sc0 ls0 ws0">%</div><div class="t m0 x4a h16 y66 ff7 fsb fc0 sc0 ls0 ws0">%</div><div class="t m0 x4a h16 y67 ff7 fsb fc0 sc0 ls0 ws0">%</div><div class="t m0 x4a h16 y68 ff7 fsb fc0 sc0 ls0 ws0">%</div><div class="t m0 x4a h16 y69 ff7 fsb fc0 sc0 ls0 ws0">%</div><div class="t m0 x4a h16 y6a ff7 fsb fc0 sc0 ls0 ws0">%</div><div class="t m0 x4a h16 y6b ff7 fsb fc0 sc0 ls0 ws0">%</div><div class="t m0 x4a h16 y6c ff7 fsb fc0 sc0 ls0 ws0">%</div><div class="t m0 x4a h16 y6d ff7 fsb fc0 sc0 ls0 ws0">%</div><div class="t m0 x32 h16 y6e ff7 fsb fc0 sc0 ls0 ws0">&amp;</div><div class="t m0 x26 h7 y6f ff3 fs4 fc0 sc0 ls0 ws0">取<span class="_ _1"> </span><span class="ff1">r=2000,h=<span class="_ _4"></span>0.02,<span class="ff3">采样<span class="_ _0"></span>时间<span class="_ _1"> </span></span>t</span></div><div class="t m0 x4b h10 y70 ff1 fs8 fc0 sc0 ls0 ws0">s</div><div class="t m0 x4c h7 y6f ff1 fs4 fc0 sc0 ls0 ws0">=0.001s,<span class="ff3">输入幅<span class="_ _0"></span>值为<span class="_ _1"> </span></span>1<span class="ff3">，<span class="_ _6"></span>频<span class="_ _0"></span>率</span></div><div class="t m0 x35 h7 y71 ff3 fs4 fc0 sc0 ls0 ws0">为<span class="_ _1"> </span><span class="ff1">1H</span></div><div class="t m0 x27 h10 y72 ff1 fs8 fc0 sc0 ls0 ws0">Z</div><div class="t m0 x4d h7 y71 ff3 fs4 fc0 sc0 ls0 ws0">的<span class="_ _0"></span>正弦<span class="_ _0"></span>波<span class="_ _0"></span>，<span class="_ _17"></span>加<span class="_ _0"></span>入<span class="_ _5"> </span><span class="ff1">0.1rands(<span class="_ _7"></span>1)<span class="_ _4"></span><span class="ff3">的随<span class="_ _0"></span>机<span class="_ _0"></span>噪<span class="_ _0"></span>声，<span class="_ _6"></span>滤<span class="_ _0"></span>波<span class="_ _0"></span>后的<span class="_ _0"></span>仿<span class="_ _0"></span>真</span></span></div><div class="t m0 x35 h7 y73 ff3 fs4 fc0 sc0 ls0 ws0">图如图<span class="_ _1"> </span><span class="ff1">1<span class="_ _1"> </span></span>所示<span class="ff5">。</span></div><div class="t m0 x26 h7 y74 ff3 fs4 fc0 sc0 ls0 ws0">仿真结果表<span class="_ _0"></span>明，<span class="_ _17"></span>二阶跟<span class="_ _0"></span>踪微分器<span class="_ _0"></span>具有较<span class="_ _0"></span>好的<span class="_ _0"></span>滤波效<span class="_ _0"></span>果，<span class="_ _6"></span>虽</div><div class="t m0 x35 h7 y75 ff3 fs4 fc0 sc0 ls0 ws0">然在通带<span class="_ _0"></span>内有较小相移，<span class="_ _6"></span>但没产生<span class="_ _0"></span>谐振现象<span class="_ _0"></span><span class="ff5">。</span></div><div class="t m0 x4e h7 y76 ff2 fs4 fc0 sc0 ls0 ws0">图<span class="_ _1"> </span><span class="ff1">1<span class="_ _5"> </span></span>滤波后的仿真波形图</div><div class="t m0 x12 h17 y77 ff8 fsc fc0 sc0 ls0 ws0">.</div><div class="t m0 x12 h17 y78 ff8 fsc fc0 sc0 ls0 ws0">.</div><div class="t m0 x4f h18 y79 ff1 fsd fc1 sc0 ls0 ws0">1</div></div></div><div class="pi" data-data='{"ctm":[1.568115,0.000000,0.000000,1.568115,0.000000,0.000000]}'></div></div>
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