초록 ▼

An apparatus and method for eliminating integrator windup in control systems having a control input, a feedback signal and an actuator that can saturate in response to dynamic non linearities such as slew rate limits. The apparatus of the invention is comprised of circuitry that determines the rate

An apparatus and method for eliminating integrator windup in control systems having a control input, a feedback signal and an actuator that can saturate in response to dynamic non linearities such as slew rate limits. The apparatus of the invention is comprised of circuitry that determines the rate of change of the output of the integrator and compares it to predetermined maximum allowable rates of change. If these maximum allowable rates of change have been exceeded, the comparator circuitry generates a compensation error signal which when combined with normal error signal integrated by the compensator tends to reduce the rate of change on the output of the integrator.

대표청구항 ▼

An apparatus for reducing integrator windup in a control system for an apparatus being controlled comprising: a feedback input for receiving a feedback signal from said apparatus being controlled indicating the status of said apparatus; a command input for receiving an input signal representing the

An apparatus for reducing integrator windup in a control system for an apparatus being controlled comprising: a feedback input for receiving a feedback signal from said apparatus being controlled indicating the status of said apparatus; a command input for receiving an input signal representing the desired status of said apparatus being controlled; a compensation error signal input for receiving a compensation error signal; a summing junction to which is coupled said feedback input said command input and said compensation error signal input for generating and error signal; integrator means for integrating said error signal and for generating a control signal for said apparatus being controlled as a result of said integration; differentiator means for determining the rate of change of said control signal; and comparison means coupled to said summing means and to said differentiator means for comparing the rate of change of said control signal determined by said differentiator means to predetermined maximum allowable rates of change in the positive going and negative going directions and for generating said compensation error signal in response to said comparison in such a manner to reduce the magnitude of the rate of change of said control signal.