• 제목/요약/키워드: anti-windup control

검색결과 87건 처리시간 0.031초

EHA(Electro-Hydrostatic Actuator) 위치제어 시스템의 모델링 및 제어 (Identification and Control of Position Control System for Electro-Hydraulic Actuator (EHA))

  • 박용호;박성환
    • 동력기계공학회지
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    • 제15권2호
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    • pp.69-77
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    • 2011
  • In this paper, an optimal PID sliding mode controller is proposed for the position control of electro-hydrostatic actuator(ERA) systems with system uncertainties and saturation in the motor. An ERA prototype is developed and system modeling and parameter identification are executed. Then, optimal PID and optimal anti-windup PID controller are designed based on identified system model by using optimization toolbox in MA TLAB/Simulink and the performance of the two control systems are compared by experiment. It was found that the optimal anti-windup PID control system has better performance than the optimal anti-windup PID control system.

적응PID 슬라이딩 모드 제어기법을 적용한 EHA 시스템의 위치제어 (A Position Control of EHA Systems using Adaptive PID Sliding Mode Control Scheme)

  • 이지민;박성환;박민규;김종식
    • 동력기계공학회지
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    • 제17권4호
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    • pp.120-130
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    • 2013
  • An adaptive PID sliding mode controller is proposed for the position control of electro-hydrostatic actuator(EHA) systems with system uncertainties and saturation in the motor. An EHA prototype is developed and system modeling and parameter identification are executed. Then, adaptive PID sliding mode controller and optimal anti-windup PID controller are designed and the performance and robustness of the two control systems are compared by experiment. It was found that the adaptive PID sliding mode control system has better performance and is more robust to system uncertainties than the optimal anti-windup PID control system.

Anti-windup 보상기의 점프공진에 관한 연구 (Jump resonance in anti-windup compensator for systems with saturating actuators)

  • 박영진;장원욱
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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    • pp.1060-1066
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    • 1992
  • One of the undesirable nonlinear phenomenon called 'wind up' occours when the integrator in the controller and the saturated actuator interact. Large overshoot, slow response, instability, limit cycle and jump resonance are the characteristics of wind up phenomenon. Several 'anti-windup' compensators have been developed to prevent some of the aforementioned nonlinear characteristics such as instabilituy and limit cycle, but none has studied the effect of antiwindup compensator on the jump resonance. In this paper, we developed an analyitcal method to design the compensator to prevent not only limit cycle but also jump resonance. An illustrative example is included to show the compensator eliminates jump resonance of effectively.

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Performance Improvement of Active Queue Management for Internet Routers

  • Lim, Hyuk;Park, Kyung-Joon;Park, Eun-Chan;Park, Chong-Ho
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2001년도 ICCAS
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    • pp.77.1-77
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    • 2001
  • In this paper, we propose a control scheme for improving the performance of a conventional Proportional-Integral (PI) controller for Active Queue Management (AQM) supporting TCP flows. When the PI controller is used for AQM, the windup phenomenon of the integral action causes the performance degradation. Therefore we model AQM as a system with a saturator and apply anti-windup methods to the PI controller for AQM. We compare the performances of anti-windup algorithm with the conventional PI controller through ns simulations. The simulation results show that the PI controller with anti-windup method performs better than the conventional PI controller.

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다중 제어기 및 다중 루우프로 구성된 포화제어시스템의 동적 리셋 와인드엎 방지 방법과 모터제어에의 응용 (Dynamical anti-reset windup method for saturating control systems with multiple controllers and multiloop configuration and its application to motor control systems)

  • 박종구;최종호
    • 제어로봇시스템학회논문지
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    • 제4권2호
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    • pp.141-150
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    • 1998
  • This paper presents a dynamical anti-reset windup (ARW) compensation method for saturating control systems with multiple controllers and/or multiloop configuration. By regarding the difference of controller states in the absence and presence of saturating actuators as an objective function, the dynamical compensator which minimizes the objective function is derived in an integrated fashion. The proposed dynamical compensator is a closed form of plant and controller parameters. The resulting dynamics of compensated controller reflects the linear closed-loop system. The proposed method guarantees total stability of the resulting system. The effectiveness of the proposed method is illustrated by applying it to a servo motor control system. The paper is an extension of the results in Park and Choi[1].

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Improvement of Practical Control Method for Positioning Systems in the Presence of Actuator Saturation by Incorporating Takagi-Sugeno(TSK) Fuzzy Anti-reset Windup

  • Ibrahim, Tarig Faisal;;Salami, M.J.E.;Albagul, Abdulgani
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2004년도 ICCAS
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    • pp.975-980
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    • 2004
  • Positioning system is widely used for many practical applications. This system requires a good controller to achieve high accuracy and fast response with simple and self-adjustable design. In order to satisfy the above requirements, a new practical controller for positioning systems, namely nominal characteristic trajectory following (NCTF) controller with PI compensator, has been proposed. However, the effect of actuator saturation can not be completely compensated for integrator windup when the object parameters vary. This paper presents a method to improve the NCTF controller by overcoming the problem of integrator windup by adopting a fuzzy system. The improvement of the NCTF controller is evaluated through simulation using a rotary positioning system. The simulation result has demonstrated the effectiveness of the compensated NCTF in overcoming the problem of integrator windup.

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시간지연제어의 와인드업 방지를 위한 기법의 개발 (Development of Anti-Windup Method for Time Delay Control)

  • 장평훈;박석호;이성욱
    • 대한기계학회논문집
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    • 제18권10호
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    • pp.2616-2628
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    • 1994
  • Recently the Time Delay Control(TDC) method has been proposed as a promising technique in the robust control area, where the plant has unknown dynamics with parameter variations and substantial disturbances are present. When TDC is applied to the plant with saturation nonlinearity, however, the so called windup phenomena are observed to arise, causing excessive overshoot and instability. In order to solve this problem, we have proposed an anti-windup method for TDC. The stability of the overall system has been analyzed for a class of LTI MIMO system. The effectiveness for the proposed method has been shown with simulation and experiment results.

제어 입력포화를 고려한 횡동요 저감장치용 제어알고리듬 설계 (Design of Control Algorithm for Mass Driving Anti-Rolling System Considering Control Input Constraint)

  • 문석준;임채욱;이해종
    • 대한조선학회논문집
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    • 제42권6호
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    • pp.566-574
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    • 2005
  • Reduction of a ship's rolling is the most important performance requirement for improving the safety of the crew on board and preventing damage to cargos as well as improving the comfort of the ride. A mass driving anti-rolling system (MO-ARS) might be one candidate of several systems against the ship's rolling. As the movable range of the mass on the ship is finite, the control system must include restriction on the mass position to protect the device and the ship. This restriction usually causes windup phenomenon and control performance is deteriorated seriously. Two control algorithms, anti-windup control and saturated sliding mode control, are studied in this paper. Control performance and robustness problem are checked out by numerical simulations.

PI속도제어기에서의 새로운 적분누적 방지기법 (New Anti-windup Strategy for PI-type Speed Controller)

  • 최종우;이상철
    • 대한전기학회논문지:전기기기및에너지변환시스템부문B
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    • 제54권12호
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    • pp.629-637
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    • 2005
  • This paper proposes a new anti-windup strategy to suppress integrator windup for PI speed controller and to be implemented on the existing system with minimal modification. When the speed control mode is changed from P controller to PI controller. an appropriate initial value for integrator is assigned. This value restricts overshoot and high settling time. Also, the proposed method guarantees the designed performance independent on operating conditions, i.e. different set-point change and load torque. Simulation and experimental results for PMSM speed controller have shown its superior performance compared with the conditional integration and tracking back calculation.

다중 제어기 및 다중 루우프로 구성된 포화 제어 시스템의 정적 리셋 와인드엎 방지 방법 (Static anti-reset windup method for saturating control systems with multiple controllers and multiloop configuration)

  • 박종구;최종호
    • 제어로봇시스템학회논문지
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    • 제2권4호
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    • pp.248-256
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    • 1996
  • This paper presents an anti-reset windup (ARW) compensation method for saturating control systems with multiple controllers and/or multiloop configuration. The proposed ARW method is motivated by the concept of equilibrium point. The design parameters of the ARW scheme is derive explicitly by minimizing a reasonable performance index. In the event of saturation, the resulting dynamics of the compensated controller reflects the dynamics of the linear closed-loop system. The proposed method guarantees the total stability o fthe resulting control systems under a certain condition. An illustrative example is given to show the effectiveness of the proposed method. The paper is an extension of the results in Park and Choi[10].

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