【摘要】 针对自抗扰控制器在处理一类欠阻尼对象时未考虑闭环带宽对名义控制增益的影响，提出一种基于频域分析的估计方法来确定名义控制增益。通过模态分解技术，分析了具有两个本征模态的欠阻尼系统的频率响应。针对这类欠阻尼对象，探讨了在相同闭环带宽下确定名义控制增益的指导规则，并研究了不同闭环带宽对同一欠阻尼对象名义控制增益的影响。仿真结果表明，基于频域分析的名义控制增益估计方法能够准确地确定名义控制增益。更多还原

【Abstract】 In view of the issue that the impact of different closed-loop bandwidths on the nominal control gain is neglected when dealing with under damping objects with the active disturbance rejection controller, an estimation method based on frequency domain analysis is proposed for determining nominal control gain. The frequency responses of underdamping systems with two eigenmodes are analyzed with the modal decomposition technique. For this type of underdamping object, The guideline for determining nominal control gain is investigated under the same closed-loop bandwidth. The impact of different closed-loop bandwidths on the nominal control gain estimation is studied for the same underdamping object. Simulation results demonstrate that the proposed method can achieve accurate nominal control gain estimation for these systems.更多还原