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雷达卡
2006
Windup in ControlIts Effects and Their Prevention
- Peter Hippe Dr.-Ing.
- …show all 1hide
ISBN: 978-1-84628-322-2 (Print) 978-1-84628-323-9 (Online)
About this book
Actuator saturation is probably the most frequent nonlinearity encountered in control applications. Input saturation leads to controller windup, removable by structural modification during compensator realization and plant windup which calls for additional dynamics.
Peter Hippe presents solutions to the windup prevention problem for stable and unstable single-input-single-output and multiple-input-multiple-output (MIMO) systems. The solutions use only standard tools for the investigation of linear systems – state equations, transfer functions, etc. The stability tests are based on well-known criteria for loops consisting of a linear part with isolated sector-type nonlinearity. Less rigorous "engineering solutions" which guarantee improved performance but without strict proof of stability are also demonstrated.
MIMO systems in which the behaviour of controlled variables is decoupled require specific input vectors and so also suffer problems of directionality when their input signals saturate. This can have extremely deleterious consequences for closed-loop behaviour. Windup in Control offers an exact solution to this directionality problem for stable and unstable systems. The methods laid out in this survey also integrate solutions for applications with rate-constrained actuators and for bumpless transfer from manual to automatic during system start-up or in override control. Developments in control methods are always supplemented by easily repeated numerical examples.
Academics doing control-related research in electronics, mechanics, or mechatronics and engineers working in the process industries will find this book an extremely useful overview of systematic windup prevention for all kinds of systems. It also has valuable insights to offer the graduate student of control.
Advances in Industrial Control aims to report and encourage the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.
Table of contents Introduction.- Undesirable Effects of Input Saturation.- Controller Windup Prevention.- Plant Windup Prevention for Stable Systems.- Other Approaches to Windup Prevention.- Plant Windup Prevention for Stable and Unstable Single-input Systems.- Windup Prevention for MIMO Systems.- Slow Rate Limitations.- Bumpless Transfer.- Résumé and Concluding Discussion.- Appendix.
From the reviews:
Peter Hippe has done a nice job with his book. The central thesis is clear and provides a nice framework for the methods he emphasizes. His book contains many helpful examples that demonstrate the approaches and make them easy to emulate. In addition, the selection of topics provides a sturdy bridge to other methodologies that address control with input saturation. For example, Hippe's dichotomy betwen controller windup and plant windup is related to the distinction between the effectiveness of "static" and "dynamic" anti-windup compensation which can be determined by assessing the feasibility of a set of LMIs. This provides a link to the growing body of work on the use of LMIs to solve control design problems in the presence of input saturation. Hippe's nonlinear trajectory generator may inspire the reader to consult other reference governor ideas in the literature, eventually leading to the vast body of work on model predictive control. Finally, the description of Buhler's nonlinear cascaded control idea may inspire the reader to digest papers on nested saturation control.
Regardless of the saturation control problem one faces, Peter Hippe's book is an enjoyable read that will help to develop an intuitive feel for and better understanding of control with input saturation.
IEEE Transactions on Automatic Control 53 (2008) 1976 – 1977 (Reviewer: Andrew R. Teel)
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