基于积分状态预测的Anti-Windup PID控制器设计

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摘要目前有多种方式用来抑制调速系统中调节器饱和引起的Windup现象。其中跟踪反计算控制策略,由于其采用线性反馈作用原理来减小调节器饱和时的积分累加值,因此对于这种策略的研究和应用较多。但由于在设计调节器参数时,没有考虑速度指令和负载的变化,固定的反计算参数一般难以在大范围内保证系统响应的一致性。为了在不同速度指令和负载转矩条件下,保证系统响应的一致性,本文提出了积分状态预测Anti-Windup策略来减小系统由于饱和现象而引起的性能下降,根据速度指令和负载转矩的变化,在调节器饱和时计算出积分器在系统稳态积分终值,并将其作为调节器进入线性段的积分初始值,当系统参数精确时使得系统呈现出最优的速度响应曲线。本文在相同的电流环和速度环调节器PI参数的条件下,进行了仿真实验,比较了上述AW策略与传统方法的速度响应性能。实验结果验证了理论分析及仿真波形的正确性。

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	牛里
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关键词 ： Anti-Windup策略, 调节器饱和, 永磁同步电机, 积分状态预测

Abstract：Currently there are a variety of ways to suppress windup phenomenon which caused by the saturation of the regulator of the speed control system. Because of adopting the principle of linear feedback to decrease integral accumulated value when the regulator is saturated, the tracking back calculation(TBC) strategy is studied and applied widely. Generally due to be lack of consideration of the speed command and load variation, the fixed parameter of TBC is difficult to keep the consistency of system response in a wide range. To guarantee the consistency of system response in the condition of different speed commands and loads, an anti-windup strategy with integral state prediction is proposed to minish the performance degradation caused by the saturation phenomenon. The integral state prediction(ISP) strategy calculates the steady state value of the integrator, in terms of the speed command and load condition, during the saturated stage of the regulator, and then the predicted value is set as initial value of the integrator when the regulator going into the linear region. ISP guarantees the optimal speed response with accurate system parameters. This paper compares the simulation waveforms of ISP and traditional TBC AW strategies with same current loop structure and PI parameters of speed regulator. The experimental results verify the correctness of theoretical analysis and simulation waveforms.

Key words： Anti-windup strategy regulator saturation permanent magnet synchronous motor (PMSM) integral state prediction(ISP)

收稿日期: 2011-04-22 出版日期: 2014-11-05

PACS:

TM315

基金资助:国家自然科学基金（51007012,61273147）和台达环境与教育基金（DREK2012002）资助项目

作者简介: 牛里男,1985年生,博士研究生,研究方向为电力电子与电力传动；杨明男,1978年生,副教授,硕士生导师,研究方向为电力电子与电力传动。

引用本文:

牛里, 杨明, 唐思宇, 徐殿国. 基于积分状态预测的Anti-Windup PID控制器设计[J]. 电工技术学报, 2014, 29(9): 145-152. Niu Li, Yang Ming, Tang Siyu, Xu Dianguo. Design of Anti-Windup PID Controller with Integral State Prediction. Transactions of China Electrotechnical Society, 2014, 29(9): 145-152.

链接本文:

http://dgjsxb.ces-transaction.com/CN/Y2014/V29/I9/145

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