Integral control
Цель: Изучить тему «Integral control» и закрепить её практическими заданиями и самопроверкой.
2 акад. часа чтение и разбор теории, решение задач, работа со схемой или виртуальным стендом и проверка понимания.
Основной материал
I-action accumulates error over time. Even small persistent error continually changes output until error approaches zero. This eliminates offset but adds phase lag and can cause oscillation.
Integral time
Depending on algorithm parameter Ti determines strength; smaller Ti usually stronger integral action. Some systems use repeats/min or Ki, so units/convention matter.
Windup
If output saturated at 100 % while error remains, integrator continues accumulating. When process finally responds, stored integral drives overshoot. Anti-windup stops/limits integration when actuator saturated or tracking manual output.
Практическая работа
Describe temperature loop: valve fully open for 20 min, integral accumulates, then feed temperature rises suddenly. Explain overshoot mechanism.
Самопроверка
• What does I action integrate?
• Why removes offset?
• Why can destabilize?
• What is windup?
• How anti-windup helps?
Что нужно запомнить
- Even small persistent error continually changes output until error approaches zero.
- This eliminates offset but adds phase lag and can cause oscillation.
- Depending on algorithm parameter Ti determines strength; smaller Ti usually stronger integral action.
- Some systems use repeats/min or Ki, so units/convention matter.
- If output saturated at 100 % while error remains, integrator continues accumulating.