Antiwindupløsning

Antiwindupløsning, often translated as "anti-windup solution" or "anti-windup scheme," refers to a set of techniques used in control systems to prevent undesirable behavior that occurs when a controller's output saturates. Saturation happens when the actuator, the device that implements the controller's command, reaches its physical limit, such as a maximum voltage, speed, or position.

When a controller's output saturates, the internal state of the controller, particularly in integral controllers, can continue to accumulate error signals. This accumulation, known as integrator windup, leads to a significant overshoot or undershoot once the system's state allows the controller output to return to its normal operating range. The system may then take a long time to stabilize, impacting performance and potentially causing instability.

Anti-windup solutions work by modifying the controller's behavior when saturation is detected. Common methods include conditional integration, where the integral term is only updated when the controller output is not saturated, and back-calculation, where a signal is fed back from the saturated output to the controller's integral term to counteract the windup. Other techniques involve clamping the integral term or using state-space representations with saturation modeling. The goal of all these methods is to ensure faster settling times and improved overall system stability by preventing the buildup of excessive integral action during actuator saturation.