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The effects of the windup phenomenon impact the performance of integral controllers commonly found in industrial processes. In particular, windup issues are critical for controlling variable and longtime delayed systems, as they may not be timely corrected by the tracking error accumulation and saturation of the actuators. This work introduces two anti-windup control algorithms for a sliding mode control (SMC) framework to promptly reset the integral control action in the discontinuous mode without inhibiting the robustness of the overall control system against disturbances. The proposed algorithms are intended to anticipate and steer the tracking error toward the origin region of the sliding surface based on an anti-saturation logistic function and a robust compensation action fed by system output variations. Experimental results show the effectiveness of the proposed algorithms when they are applied to two chemical processes, i.e., (i) a Variable Height Mixing Tank (VHMT) and (ii) Continuous Stirred Tank Reactor (CSTR) with a variable longtime delay. The control performance of the proposed anti-windup approaches has been assessed under different reference and disturbance changes, exhibiting that the tracking control performance in the presence of disturbances is enhanced up to 24.35% in terms of the Integral Square Error (ISE) and up to 88.7% regarding the Integral Time Square Error (ITSE). Finally, the results of the proposed methodology demonstrated that the excess of cumulative energy by the actuator saturation could reduce the process resources and also extend the actuator’s lifetime span.
The effects of the windup phenomenon impact the performance of integral controllers commonly found in industrial processes. In particular, windup issues are critical for controlling variable and longtime delayed systems, as they may not be timely corrected by the tracking error accumulation and saturation of the actuators. This work introduces two anti-windup control algorithms for a sliding mode control (SMC) framework to promptly reset the integral control action in the discontinuous mode without inhibiting the robustness of the overall control system against disturbances. The proposed algorithms are intended to anticipate and steer the tracking error toward the origin region of the sliding surface based on an anti-saturation logistic function and a robust compensation action fed by system output variations. Experimental results show the effectiveness of the proposed algorithms when they are applied to two chemical processes, i.e., (i) a Variable Height Mixing Tank (VHMT) and (ii) Continuous Stirred Tank Reactor (CSTR) with a variable longtime delay. The control performance of the proposed anti-windup approaches has been assessed under different reference and disturbance changes, exhibiting that the tracking control performance in the presence of disturbances is enhanced up to 24.35% in terms of the Integral Square Error (ISE) and up to 88.7% regarding the Integral Time Square Error (ITSE). Finally, the results of the proposed methodology demonstrated that the excess of cumulative energy by the actuator saturation could reduce the process resources and also extend the actuator’s lifetime span.
Control systems engineering is a very interesting engineering disciplines. It requires proper tools to teach it effectively, one of the tools is experimental setups. They are needed to understand and apply different control strategies and to connect theory with application. However, such setups might not be easy to reach for a number of reasons such as their relatively high prices. Hardware in the Loop (HIL) is a way to replace an experimental setup to be studied with an equivalent hardware, such as a PC or a microcontroller. In this paper a microcontroller is used to replace two different physical systems. In addition to simulating the systems, another microcontroller is also used to replace the control loop, i.e. the summing node and the controller. The simulation of the systems and the whole control loop on the microcontroller was carried out using difference equation method and Ordinary Differential Equations method whenever it is applicable. The interface between the two microcontrollers was established using serial communication protocol and ESP NOW. The performance of the control system is compared with MATLAB and showed very high accuracy. The simulation was run in real time, with a sample time of 10ms
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