带宽化调节下的抗扰PID退饱和控制方法

Disturbance rejection PID anti-windup control under bandwidth tuning

比例–积分–微分(PID)控制的抗饱和设计是一类经典非线性控制问题,理论研究丰富,但工程中广泛使用的仍是积分退饱和这类简易策略.究其原因,现有理论方法过于依赖系统模型和状态空间理论,稳定性条件与调参机制之间关系复杂.本文基于经典退饱和控制结构,首次阐述了“退饱和带宽”概念及退饱和参数调节机理,在此基础上讨论了两类低阶退饱和补偿器的带宽化设计方法.在抗扰PID反馈控制下,结合小增益定理得到退饱和控制的稳定性条件,给出控制参数与退饱和带宽之间的调节关系,实现退饱和控制的带宽化整定.最后,通过数值仿真验证了所提方法的有效性.

The design of proportional integral derivative(PID)anti-windup control is a classical nonlinear control problem with rich theoretical research,but the dominant method used in the engineering is still a simple integral anti-windup control scheme.The reason is that the existing theoretical methods heavily rely on the system model and state-space theory,which complicates the relationship between stability condition and parameter tuning.Based on the classical anti-windup control scheme,this paper proposes the concept of“anti-windup bandwidth”for the first time to reveal the parameters’tuning mechanism for anti-windup control.Meanwhile,the design of two low-order anti-windup compensators are developed based on the bandwidth tuning mechanism.Under the disturbance rejection PID feedback control,the small gain theorem is used to derive the stability condition with intuitive stabilization relationship between the control bandwidth and antiwindup bandwidth,which concludes as the bandwidth tuning method for anti-windup control.Finally,the effectiveness of the proposed method is verified by numerical simulation.