A Double-$r$ $fhan$ Algorithm for Tracking Differentiator of Active Disturbance Rejection Control

Discrete-time optimal control tracking differentiator (DTOC-TD) based on
${fhan}$
algorithm is widely used in active disturbance rejection control (ADRC) for motor drive, which cannot only arrange the transition process for setpoint jump but also filter out the noises of the input signal. However, for the conventional
${fhan}$
algorithm, only a single
$r$
parameter is included, which makes it difficult to balance the tracking and filtering capabilities. This article proposes a double-
$r$

$(r_{\mathrm{a}}, r_{\mathrm{b}})$

${fhan}$
-DTOC-TD (briefly noted as
${fhan}$
-TD) to ensure tracking and filtering simultaneously. A different operating sequences of the two
$r$
parameters are designed and compared. Simulation results verify the excellent step signal tracking and noise filtering performances of double-
$r$

${fhan}$
-TDs. Experiments are conducted on an electric forklift driven by a four-phase 16/12 switched reluctance motor (SRM). By replacing the conventional TD with the proposed double-
$r$

${fhan}$
-TDs in the ADRC of SRM control, the system tracking performance can be obviously improved.