Abstract In this work, a new robust control algorithm is introduced for uncertain systems with harmonic disturbances of unknown frequencies. The proposed solution works under the active disturbance rejection control (ADRC) framework and utilizes a specialized observer for sinusoidal uncertainties, aided with an on-line harmonic disturbance frequency estimator. The entire governing structure is derived in a convenient error-based domain, easily deployable in various industrial control software. The idea behind the introduced approach is general, but is conveyed here using solely a three degrees-of-freedom torsional system, which is considered a benchmark for vibration phenomenon in many mechanical systems. The efficacy of the proposed control scheme is validated with a set of experiments on a laboratory testbed and a theoretical analysis based on theory of singular perturbation.

中文翻译：

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未知频率谐波扰动下扭转装置的自抗扰控制

摘要 在这项工作中，针对具有未知频率谐波扰动的不确定系统，引入了一种新的鲁棒控制算法。所提出的解决方案在自抗扰控制 (ADRC) 框架下工作，并利用专门的正弦不确定性观测器，并辅以在线谐波干扰频率估计器。整个管理结构源自一个方便的基于错误的域，可轻松部署在各种工业控制软件中。引入的方法背后的想法是通用的，但在这里仅使用三自由度扭转系统来传达，这被认为是许多机械系统中振动现象的基准。