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5.4 ADRA Actuators Register
The register and Control Table Description are available on the wiki.
https://umbratek.com/wiki/en/#!adra/adra_communication_register.md
5.4 ADRA Actuators Control Algorithms
ADRA series actuators support ADRC (Active Disturbance Rejection Controller) and
PID (Proportion Integration Differentiation) closed-loop control algorithms, and all
support current, speed and position control modes. The factory default is ADRC
control algorithm, the following is about the algorithm control block diagram.
Below figure is a block diagram describing the position controller in Position Control
Mode and Extended Position Control Mode. When the instruction is received by the
device, it takes following steps until driving the device.
ESO (Extended State Observer), TD (Tracking Differentiator)
Below figure is a block diagram describing the velocity controller in Velocity Control
Mode. When the instruction is received by the device, it takes following steps until
driving the device.
ESO (Extended State Observer), TD (Tracking Differentiator)
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