철도차량 보조전원장치의 전압 제어 안정성 증대를 위한 Anti-windup 기법의 적용 및 비교 분석

최종용(Jong-Yong Choi),이수길(Su-Gil Lee),이준희(June-Hee Lee),이현재(Hyun-Jae Lee),손진근(Jin-Geun Shon) 대한전기학회 2021 전기학회논문지 P Vol.70 No.4

In this paper, Application and Comparative Analysis of Anti-windup Method for Improving the Stability of Voltage Control of Auxiliary Power Supplies in Railway System. Because it is easy to design, and the structure is simple, there is a problem in the widely used PI controller to occur. Various problems occur, such as response time delay and overshoot due to integrator windup caused by the accumulation of errors in the integral controller. To improve this, various anti-windup methods have been studied. Among the representative Anti-windup methods, it was checked whether various problems caused by integrator windup could be solved through the conditional integral Anti-windup method and the tracking Anti-windup method and the error control Anti-windup. After confirming through PSIM simulation before hardware experiment, DC power conversion system was designed and improvements were confirmed.

Comparison and Evaluation of Anti-Windup PI Controllers

Xin-lan Li,Jong-Gyu Park,Hwi-Beom Shin 전력전자학회 2011 JOURNAL OF POWER ELECTRONICS Vol.11 No.1

This paper proposes a method for comparing and evaluating anti-windup proportional-integral (PI) control strategies. The so-called PI plane is used and its coordinate is composed of the error and the integral state. In addition, an anti-windup PI controller with integral state prediction is proposed. The anti-windup scheme can be easily analyzed and evaluated on the PI plane in detail. Representative anti-windup methods are experimentally applied to the speed control of a vector-controlled induction motor driven by a pulse width modulated (PWM) voltage-source inverter (VSI). The experimental results compare the anti-windup PI controllers. It is empathized that the initial value of the integral state at the beginning of the linear range dominates the control performance in terms of overshoot and settling time.

복소 벡터 동기좌표계 비례 적분 전류 제어기의 안티 와인드업 이득 설정

유현재,정유석,설승기 전력전자학회 2006 전력전자학회 논문지 Vol.11 No.5

This paper presents an anti-windup gain selection method for a complex vector synchronous frame PI current controller. The complex vector PI current controller is more robust to the parameter variation than the state feedback decoupling PI current controller. The complex vector PI current controller also includes an integral term, which can results in windup problem when the controller is saturated due to physical limitation of the system. Furthermore, even an anti-windup is utilized, inappropriate gain can deteriorate the performance of the current controller. Therefore, appropriate anti-windup gain selection method for a complex vector current controller has been proposed based on the mathematical description of the current control system. The superior performance of the current control system with the proposed anti-windup gain has been verified by the experimental results. 본 논문에서는 복소 벡터 동기 좌표계 비례 적분(PI) 전류 제어기의 안티 와인드업(anti-windup)이득 설정에 대해 논의한다. 복소 벡터 동기 좌표계 비례 적분 전류 제어기는 시스템 제정수 변동에 기존의 비례 적분 전류 제어기 보다 더 강인한 특성을 보인다. 복소 벡터 전류 제어기 역시 적분기를 포함하고 있으며, 엑츄에이터(actuator)의 물리적인 한계로 전압이 포화되는 경우에는 안티 와인드업이 필요하게 되고, 적절치 못한 안티 와인드업 이득 설정은 제어 시스템의 동특성을 저하시킬 수 있다. 따라서 복소 벡터 동기 좌표계 비례 적분 전류 제어기에 적합한 안티 와인드업 이득을 제안하였고, 제안된 알고리즘의 유효성은 실험을 통하여 검증하였다.

고성능 유도전동기 구동을 위한 자동 튜닝 Anti-windup 기법

석줄기,이동춘 전력전자학회 2005 전력전자학회 논문지 Vol.10 No.1

This paper presents a tuning-free conditional integration anti-windup strategy for induction machine with Proportional-Integral(PI) type speed controller. The on/off condition of integral action is determined by the frequency domain analysis of machine torque command without a prior knowledge of set-point changes. There are no tuning parameters to be selected by users for anti-windup scheme. In addition, the dynamic performance of the proposed scheme assures a desired tracking response curve with minimal oscillation and settling time even in the change of operating conditions. This algorithm is useful in many high performance induction machine applications not to allow the oscillation and overshoot of speed/torque responses. The main idea can be extended to general applications such as chemical processes and industrial robots. 본 논문에서는 PI형태의 속도제어기를 장착한 고성능 유도전동기의 조건부 적분형 자동 튜닝 anti-windup 기법을 제안한다. 제안된 방법에서는 전동기 운전 조건에 대한 사전 정보 없이도 전동기 토오크 지령의 주파수 해석에 의해서 적분기 온/오프 시점이 결정된다. 따라서, 사용자는 anti-windup 동작을 위한 별도의 제어 상수를 설정하지 않아도 된다. 또한, 동작 조건이 변동하여도 과도 상태의 속도는 항상 최소한의 오버슈우트와 점착시간을 가지도록 동작한다. 본 기법은 속도 및 토오크 응답의 오버슈우트를 허용하지 않는 유도전동기 고성능 응용 분야에 유용하게 적용 될 수 있으며, 기본 개념은 화학 공정이나 산업용 로봇과 같은 일반 산업 응용 분야에도 확대 적용 가능하다.

Robust anti-windup against LTI uncertainty using frequency dependent IQCs

R.M. Morales,W.P. Heath,G. Li 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8

This paper will present a study on the robustness of anti-windup systems where the plantun certainty can be expressed by LTI norm-bounded operators. The treatment is constructed under the IQC framework of Megretski and Rantzer. Robustness of anti-windup systems against LTI uncertainty using frequency dependent IQCs are less conservative than those where plant uncertainty is addressed by statc IQCs. They can how ever increase significantly the computational burden in the algorithms. The papers hows that sufficient conditions for robustness of anti-windup systems against LTI uncertainty can be, in some circumstances, greatly simplified. They can also be expressed in the frequency domain and interpreted graphically. The test is finally exploited for anti-windup tuning.

다단제어용 안티 와인드업 기술 개발

배정은 ( Jeong Eun Bae ),김경훈 ( Kyeong Hoon Kim ),추승철 ( Syng Chul Chu ),허재필 ( Jaepil Heo ),임상훈 ( Sanghun Lim ),성수환 ( Su Whan Sung ) 한국화학공학회 2020 Korean Chemical Engineering Research(HWAHAK KONGHA Vol.58 No.3

본 연구에서는 다단제어(Cascade Control)를 위한 안티 와인드업(Anti-windup) 기술을 개발하였다. 다단제어는 외란을 보다 효과적으로 제어하기 위해 내부에 되먹임(Feedback) 제어루프를 추가한 제어구조이다. 단일루프제어(Single-loop Control)와는 다르게 두 개의 제어루프로 이루어져 내부의 종속제어루프(Secondary Control)가 외부의 주제어루프(Primary Control)에 영향을 미치는 특징을 가지고 있다. 산업현장에서 다단제어에 적용하는 기존의 안티 와인드업 기술은 주로 주제어기(Primary Controller)와 종속제어기(Secondary Controller)에 각각 로컬 역연산법(Back Calculation)을 적용하는 것이다. 하지만 이 방법은 종속제어기의 제어출력이 포화되었을 때 발생하는 주제어기의 적분누적(Integralwindup) 현상을 효과적으로 제거하지 못한다. 이를 해결하기 위해 기존 로컬 안티 와인드업 기술을 확대 적용한 두 가지의 다단제어용 안티 와인드업 기술을 제안한다. 첫 번째는 다단 조건부 적분법(Cascade Conditional Integration)이고 두 번째는 다단 역연산법(Cascade Back Calculation)으로 단일루프제어에 적용되어 왔던 로컬 조건부 적분법과 역연산법을 다단제어로 확대 적용하여 다단제어 시스템에서 PID제어기의 적분누적 현상을 방지하고자하였다. 개발한 다단 조건부 적분법과 다단 역연산법은 간단하고 직관적이면서도 종속제어기의 제어출력의 포화로 인해 발생한 적분누적 현상을 효과적으로 방지할 수 있고 공정이나 제어기 형태에 상관없이 우수한 제어성능을 유지할 수 있었다. 향후 실제공정 적용을 통해 신뢰성을 확보한다면 산업현장의 다단제어기 성능을 개선하는데 크게 기여를 할 수 있을 것이다. In this research, the anti-windup techniques for the cascade control system are newly developed. Cascade control system has an additional internal feedback control loop to reject disturbances better than the conventional control system. Remarkable difference between the conventional single-loop control system and the cascade control system is the interaction that the controller output saturation of the secondary control loop strongly affects the integral action of the primary control loop. In industry, local back calculation anti-windup method has been mainly used for each controller without considering the interaction between the two controllers. But it cannot eliminate the integral-windup of the primary controller originated from the saturation of the secondary controller output. To solve the problem, the two anti-windup techniques of the cascade conditional integration and the cascade back calculation are proposed in this research by extending the local anti-windup techniques for the single-loop control system to the cascade control system. Simulation confirmed that the proposed methods can effectively remove the integral windup of the primary controller caused by the saturation of the secondary controller output and show good control performances for various types of processes and controllers. If the reliability of the proposed methods is proved through the applications to real processes in the future, they would highly contribute to improving the control performances of the cascade control system in industry.

A newborn anti-windup scheme based on state prediction of fractional integrator for variable speed motor

Sandeep Pandey,Prakash Dwivedi,Anjali Junghare 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10

In this paper an attempt is made to design and simulate a fractional integral state predictor anti-windup scheme with fractional order PID controller for first order plus time delayed system (FOPDT). This scheme improves the performance of the system, which is subjected to actuator saturation and change in load. In the present work it is shown that, the anti-windup fractional order PID controller improves set-point tracking performance of FOPDT system. Amongst various methods of anti-windup fractional integral state predictor scheme is suggested here .The performance of the system is compared using this method and conventional anti-windup method. A comparison of performance of the system, when using suggested method and the other conventional anti-windup method, is presented. The scheme is designed and tested on FOPDT transfer function of AC variable speed motor drive using Matlab/Simulink. The performance indices ISE, and control effort is observed to be minimized while using the proposed method.

헬리콥터 축간 디커플링을 고려한 적분기 Anti-windup 설계

강영신 한국항공우주학회 2014 한국항공우주학회 학술발표회 논문집 Vol.2014 No.11

헬리콥터 전자식 조종장치(Fly-By-Wire)내에 구현된 적분제어기에 대해 축간 Decoupling 로직을 고려하여 Anti-windup 제어기를 설계하는 방법에 대해 기술하였다. 수리온 헬리콥터 모델을 사용하였고 고의적으로 작동기 제한범위를 벗어나는 조건을 만들어 시뮬레이션을 통하여 Anti-windup 제어기 설계에 대한 검증을 수행하였다. The design results of anti-windup for integrator in the SCAS compensator in order not to interfere with the decoupling compensator which separates the pitch and roll control of rotor cyclic control. The mathematical model of KHP Surion is used in order to prove the proposed algorithm. The simulation results is presented with intentionally over compensation in the SCAS controller to show the performance of anti-windup compensator.

누적방지 무충돌전환을 위한 새로운 통합형 기법

김태신(Tae Shin Kim),권오규(Oh-Kyu Kwon) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.7

In many real applications, the discrepancy problem between controller outputs and plant inputs or the abrupt variation problem of controller outputs can occur. These problems have a negative effect on control performance and stability. It is well-known that two phenomena called ‘windup’ and ‘bump’ cause these problems. So far these problems have been studied separately in each side of the anti-windup and the bumpless transfer. This paper proposes a new unified method combines the anti-windup and the bumpless transfer method using the linear quadratic minimization and a proper state space model representation for the anti-windup controller. The proposed method has a feature that it takes account of both the anti-windup and the bumpless transfer in one formula, Finally, we exemplify the performance of the proposed method via numerical examples using the controller switching between the anti-windup PID controller and the anti-windup LQ controller.

Comparison and Evaluation of Anti-Windup PI Controllers

Li, Xin-Lan,Park, Jong-Gyu,Shin, Hwi-Beom The Korean Institute of Power Electronics 2011 JOURNAL OF POWER ELECTRONICS Vol.11 No.1

This paper proposes a method for comparing and evaluating anti-windup proportional-integral (PI) control strategies. The so-called PI plane is used and its coordinate is composed of the error and the integral state. In addition, an anti-windup PI controller with integral state prediction is proposed. The anti-windup scheme can be easily analyzed and evaluated on the PI plane in detail. Representative anti-windup methods are experimentally applied to the speed control of a vector-controlled induction motor driven by a pulse width modulated (PWM) voltage-source inverter (VSI). The experimental results compare the anti-windup PI controllers. It is empathized that the initial value of the integral state at the beginning of the linear range dominates the control performance in terms of overshoot and settling time.