Simulink:PID 控制器 - 反计算和抗饱和钳位之间的区别? [英] Simulink: PID Controller - difference between back-calculation and clamping for anti-windup?

问题描述

我需要为我的 PID 控制器实施抗饱和(输出限制).Simulink 提供两个选项:反向计算 和 clamping ( 文档页面，详细解释了钳位:

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夹紧

当块组件的总和达到时停止积分超过输出限制和积分器输出和块输入有相同的标志.当块的总和时恢复积分组件超过输出限制和积分器输出和块输入具有相反的符号.块的积分器部分是:

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钳位电路执行必要的逻辑以确定积分是否继续.

如果选择钳位选项并在面罩下查看，您可能会看到钳位电路的细节.

I need to implement an anti-windup (output limitation) for my PID controller. Simulink is offering two options: back calculation and clamping (documentation) which seem to deliver equal results. I know what back calculation is doing mathematically. It requires to define the back-calculation gain Kb. This gain is dependent on how long my controller is saturated, therefore it is actually a dynamic value (because I may have a high variation of saturation times). Do you see a way to control this value? (in this case it probably would be necessary to build my own PID Controller as shown in the documentation above or in the picture below.

Which brings me to the question, what is clamping actually doing? And what are other differences? Which one is faster, which one is more robust against stiff slopes? Does anybody has experiences using both?

解决方案

Not sure if this fully answers the question, but the PID Controller documentation page, explains a bit more about clamping:

clamping

Stops integration when the sum of the block components exceeds the output limits and the integrator output and block input have the same sign. Resumes integration when the sum of the block components exceeds the output limits and the integrator output and block input have opposite sign. The integrator portion of the block is:

The clamping circuit implements the logic necessary to determine whether integration continues.

If you select the clamping option and look under the mask, you can probably see the details of the clamping circuit.

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