Abstract
Windup effects can be subdivided into controller windup and plant windup. Controller windup can be prevented by stabilizing the compensator during saturation and plant windup by an additional dynamic element. When using a compensating design, i. e., the zeros and poles of the plant are compensated by the poles and zeros of the controller, plant windup does not occur. The compensating control is parametrized by one parameter allowing nearly arbitrary disturbance attenuation. This type of control is restricted to minimum-phase systems. But it has a number of advantages. It simplifies the SISO and especially the MIMO design of compensators with integral action considerably, it has good robustness properties and it allows a diagonal decoupling of the reference behavior for arbitrary MIMO system. Two examples demonstrate the results achievable.
Zusammenfassung
Windup Effekte kann man aufteilen in Regler-Windup und Strecken-Windup. Der Regler-Windup lässt sich durch eine Stabilisierung des Reglers während der Stellbegrenzung und ein eventuell vorhandener Strecken-Windup durch ein dynamisches Zusatz-Netzwerk vermeiden. Bei Verwendung eines kompensierenden Reglerentwurfs, d. h., die Nullstellen und Pole der Strecke werden durch Pole und Nullstellen des Reglers kompensiert, ist der Strecken-Windup automatisch vermieden. Die kompensierende Regelung wird durch einen einzigen Faktor parametriert, und mit ihm lässt sich die Störunterdrückung beliebig verbessern. Diese Art von Regelung ist natürlich auf minimalphasige Strecken beschränkt. Auf der anderen Seite besitzt dieser Ansatz eine Reihe von Vorteilen. Er vereinfacht den Entwurf von Eingrössen- und speziell von Mehrgrössen-Regelungen mit I-Anteil erheblich, er hat gute Robustheits-Eigenschaften und er erlaubt die diagonale Entkopplung des Führungsverhaltens für beliebige Mehrgrössen-Systeme. Zwei Beispiele demonstrieren die erzielbaren Ergebnisse.
About the author
Dr.-Ing. Peter Hippe worked as Akademischer Direktor at Lehrstuhl für Regelungstechnik of the Universität Erlangen-Nürnberg till September 2006. Main fields of interest: Control systems with plant input restrictions, design of state controllers and of MIMO compensators in the frequency domain.
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