基于最优Autiwindup理论的目标模拟器的控制器设计.pdfVIP

th Proceedings of the 25 Chinese Control Conference 7-11 August, 2006, Harbin, Heilongjiang 基于最优Anti-windup理论的目标模拟器的控制器设计 胡永进，黄显林，尹航，申冬冬 哈尔滨工业大学系统仿真研究中心, 哈尔滨 150001 E-mail: hu_yongjin@126.com 摘 要: 目标模拟器的控制系统设计是一个典型的伺服系统设计问题，其基本要求是精度高、动态特性好。本 文采用高增益、窄带宽设计方案对系统进行设计。由于系统中电机转速受到限制，当系统的偏差较大时，系统 中的PI控制器的积分环节会使偏差累积，从而使系统的动态特性变差、甚至不稳定，这就是Windup现象中最普 遍的一种——积分Windup现象，解决这个问题的根本方法就是设计控制器抑制饱和现象的发生，并且当系统中 出现饱和时，可以尽快地退出饱和区。在实际的工程项目中多采用Anti-reset windup这一比较简单而且有效的方 法，但却缺乏系统的理论支持，其参数的选择也没有一个最优的准则；本文将在某种最优准则的基础上设计实 际工程中的目标模拟器的Anti-windup控制器。仿真结果显示了最优Anti-windup控制器的抑制饱和的良好效果。 关键词: 目标模拟器，饱和，最优，Anti-windup控制器 Design of Controller for a Target Simulator Based on Optimal Anti-Windup Theory HU Yongjin, HUANG Xianlin, YIN Hang, SHEN Dongdong Harbin Institute of Technology, Harbin 150001, China E-mail: hu_yongjin@126.com Abstract: Target simulator control system is a servo system, with the basic demand for high accuracy and better dynamic. In this paper the method of high gain and narrow band was used to design the system. Since motor has its limit, the PI controller can accumulate errors of integrators when there are some bad errors. For that reason, the performance of system may go bad, even become unstable, and this is one of the most familiar Windup phenomena: integrate Windup. A basic solution to this problem is to restrain saturations, that is, leaving saturation area as soon as possible. In practical project the method of Anti-reset windup was widely used for its simpleness and efficiency, which is lacking in support of