Problem zaleta regulatora i izvedbe funkcije za njegovo sprečavanje

Abstract

Glavni zadatak ovog rada bio je prikazati i usporediti kakvoću regulacije u regulacijskim krugovima prilikom nastupanja efekta zaleta kada regulator posjeduje funkciju za sprječavanje. Problem zaleta regulatora (wind-up effect) je nepoželjan efekt u regulacijskim krugovima koji se događa kod regulatora koji imaju integralno vladanje, a u regulacijskom krugu postoji amplitudno ograničenje. Kada izvršni član uđe u ograničenje povratna veza se prividno prekida i sustav radi u otvorenoj pelji što izaziva drastično pogoršanje kakvoće regulacije. Kako bi se smanjio utjecaj takvog efekta potrebno je primjeniti metode sprječavanja efekta zaleta. U praksi se najčešće koriste tri metode: povratno integriranje, uvjetno integriranje i automatsko resetiranje. Simulacijom u Matlabu prikazana je efikasnost svake metode na dva tipa regulacijskih krugova s PT2 i IT1 procesima, koji se upravljaju s PI regulatorom.The main task of this thesis was to show and compare quality in regulation circuits during appereance of windup effect when regulator has function for it's prevention. Wind-up problem of regulator is undesirable effect in regulation circuits which is happening when regulator have integrally conduct and when there is amplitude limitation. When control signal enters the restriction feedback stops and system works in open loop which causes drastic deterioration quality of regulation. To reduce the imapct of that effect it is necessary to apply methods that are developed for that cases. The most commonly used methods in praxis are: back calculation, conditional integration and automatic reset. Simulation models that were made in Matlab shows the efficiency of every methods which are implemented on regulation circuits with PI regulator and PT2, IT1 processes and quality of regulation in graphic form and results in numeric indices