Robot Based On Active Disturbance Rejection Control

Simulation Analysis Of Attitude Control For Transmission Line Inspection Robot Based On Active Disturbance Rejection Control

%% Fig.1 – Time Domain Curve of Wind Scale

clc; clear; close all;

% --- Simulation time ---

t = linspace(0, 100, 1000); % 0–100 s, 1000 samples

% --- Wind scale model ---

mean_scale = 5.9; % average wind scale (≈6)

amplitude = 0.3; % small oscillation amplitude

noise_level = 0.05; % random fluctuation intensity

% Periodic and random variations

wind_scale = mean_scale + ...

amplitude * sin(0.15*t) + ...

0.1 * sin(0.5*t) + ...

noise_level * randn(size(t));

% --- Plot ---

figure('Color','w');

plot(t, wind_scale, 'r', 'LineWidth', 1);

xlabel('Time (s)', 'FontSize', 12);

ylabel('Wind scale', 'FontSize', 12);

title('Fig. 1. Time domain curve of wind scale', 'FontSize', 12);

grid on; box on;

ylim([5.5 6.3]);

xlim([0 100]);