نمذجة وتحليل إشباع المتحكم PID لأنظمة التحكم المتقطع بالسرعة
Abstract
يتناول هذا البحث عمل نظم التحكم الرقمي بالسرعة التي تستخدم المتحكمات من النوع PID عند إشباع المشغل الذي يكون سبباً في هيجان المكامل. وقد تم وضع النماذج الرياضية لعناصر نظام التحكم الرقمي بالسرعة في ظروف إشباع المشغل وعرض أشهر ثلاث طرق لتجنب هيجان المكامل في المتحكم PID.
لقد تم وضع نموذج محاكاة لنظام التحكم الرقمي بالسرعة باستخدام Matlab/simulink package ، مزود بخوارزمية تجنب هيجان المكامل integrator windup وزود النموذج أيضاً بمرشح إمرار منخفض لتجنب الصدمة التفاضلية (الحساسية لإشارات التشويش)، إذ يمكن لهذا النموذج تجنب الصدمة التناسبية
(التجاوز الأعظمي للهدف) عبر استخدام نسبة محددة من إشارة الدخل الخطوي. ويمكننا أيضاً حساب مؤشر الأداء
( تكامل مربع الخطأ) ISE لتقييم أداء نظام التحكم الرقمي بالسرعة.
This paper deals with the discrete PID velocity control systems by considering the actuator input saturation, which causes in most cases the integrator windup. The most common three anti-windup schemes are proposed. The mathematical models of velocity control elements are introduced.
The discrete velocity control system Matlab /simulink package model is presented, which is implemented with anti-windup of integrator algorithm. The model implemented also with low-pass filter to avoid the derivative kick (reduce sensitivity to noise signals). The proportional kick (maximum overshoot) can be avoided by using apart of input step signal. The performance index (ISE) can be calculated by the model.
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