By Peter Hippe

ISBN-10: 1846283221

ISBN-13: 9781846283222

Actuator saturation is without doubt one of the such a lot widespread nonlinearity encountered up to the mark purposes. enter saturation results in controller windup, detachable via structural amendment in the course of compensator consciousness and plant windup which demands extra dynamics. This booklet provides strategies to the windup prevention challenge for reliable and risky single-input-single-output and multiple-input-multiple-output (MIMO) platforms.

Show description

Read Online or Download Windup in Control: Its Effects and Their Prevention (Advances in Industrial Control) PDF

Similar robotics & automation books

Get Automating manufacturing systems with PLCs PDF

A detailed exam of producing regulate structures utilizing dependent layout tools. issues contain ladder good judgment and different IEC 61131 criteria, wiring, communique, analog IO, established programming, and communications. Allen Bradley PLCs are used broadly throughout the booklet, however the formal layout tools are appropriate to so much different PLC manufacturers.

New PDF release: Direct-Drive Robots: Theory and Practice

This booklet describes the layout inspiration and discusses the keep watch over concerns on the topic of the functionality of a direct-drive robotic, in particular, a direct-drive mechanical arm in a position to wearing as much as 10 kilograms, at 10 meters in line with moment, accelerating at five G (a unit of acceleration equivalent to the acceleration of gravity).

Download e-book for iPad: Afro-European Conference for Industrial Advancement: by Ajith Abraham, Pavel Krömer, Vaclav Snasel

This quantity comprises accredited papers awarded at AECIA2014, the 1st foreign Afro-European convention for commercial development. the purpose of AECIA was once to collect the main specialists in addition to very good younger researchers from Africa, Europe, and the remainder of the realm to disseminate newest effects from a variety of fields of engineering, details, and verbal exchange applied sciences.

Download PDF by Albert C. J. Luo: Analytical Routes to Chaos in Nonlinear Engineering

Nonlinear difficulties are of curiosity to engineers, physicists and mathematicians and plenty of different scientists simply because such a lot platforms are inherently nonlinear in nature. As nonlinear equations are tricky to resolve, nonlinear structures are usually approximated by means of linear equations. This works good as much as a few accuracy and a few diversity for the enter values, yet a few fascinating phenomena resembling chaos and singularities are hidden by means of linearization and perturbation research.

Extra info for Windup in Control: Its Effects and Their Prevention (Advances in Industrial Control)

Example text

P < n), a (reduced-order) state observer is required. 12) ym (t) = = 2 2 (t) Cm ym 2 The vector ym (t) contains the κ measurements that are directly used in the computation of the state estimate x ˆ(t). 14) 2 holds. 15) the relation holds. 16)). 5 shows a block diagram of the closed loop. The observer was designed for the linear system. Hence it is evident that input saturation will cause observation errors, because the actual input signal us (t) = satu0 (u(t)) to the linear system differs from the controller output u(t) for |u(t)| > u0 .

Thus one can split the restricted amplitude range of the input signal into one part necessary for the rejection of the disturbances and a remaining part used for tracking. Consequently, input saturation can be prevented completely, so that the stabilizing feedback control is always active. In a slightly modified form the new approach presented in Chapter 5 also applies to stable systems, where input saturation does not have to be prevented under all circumstances. In MIMO systems the controller and the (oscillatory) plant windup can be prevented as in SISO systems.

4 Plant Windup in Unstable Systems 15 Above it was implicitly assumed that reference signals are the only external input. In practice, however, disturbances usually cannot be neglected, so that a sufficient amplitude reserve is required for disturbance rejection. When the input signal is saturated the stabilizing feedback is interrupted, so that exponentially unstable modes can develop freely during this period. Since the form of the disturbance signals is unknown in general, there is always the danger of an unstable behaviour of the closed loop if disturbances act during actuator saturation.

Download PDF sample

Windup in Control: Its Effects and Their Prevention (Advances in Industrial Control) by Peter Hippe


by Charles
4.0

Rated 4.17 of 5 – based on 12 votes