简单而有效的抗积分饱和技术用于幅度和速率饱和：一种自主水下车辆案例研究
Simple yet Effective Anti-windup Techniques for Amplitude and Rate Saturation: An Autonomous Underwater Vehicle Case Study
AI总结：
本文提出改进PID和LQI控制器以应对幅度和速率饱和问题，证明经典方法在SISO系统中仍具有效性。
摘要：
执行器幅度和速率饱和（A\&RSat）及其后续的积分饱和问题长期以来被认为是控制系统的挑战。抗积分（AW）解决方案在过去几十年中被开发，通常分为两类：经典和现代抗积分（CAW和MAW）方法。经典方法提供了简单而有效的结果，主要解决幅度饱和问题。相比之下，现代方法提供了强大且理论严谨的解决方案，能够处理幅度和速率饱和。然而，MAW的推导过程通常施加了限制条件，并且在实际工程问题中应用起来复杂。然而，文献对简单而有效的CAW方案的潜力（如果不存在）几乎没有关注。本文重新审视这一问题，并对两个著名的控制器：PID和LQI进行了改进。获得的结果，基于REMUS AUV偏航控制问题并与其他受约束的MPC进行比较，表明这些经典技术仍能提供简单而有效的解决方案，至少对于SISO系统。这些发现可能激发进一步研究，以实现仅使用一个（或有限数量）额外调节参数和简单实现的可比性能的解决方案。
英文摘要：
Actuator amplitude and rate saturation (A\&RSat), together with their consequent windup problem, have long been recognised as challenges in control systems. Anti-windup (AW) solutions have been developed over the past decades, which can generally be categorised into two main groups: classical and modern anti-windup (CAW and MAW) approaches. Classical methods have provided simple and effective results, mainly addressing amplitude saturation. In contrast, modern approaches offer powerful and theoretically sound solutions capable of handling both amplitude and rate saturations. However, MAW's derivation process often imposes restrictive conditions and can be complex to apply in practical engineering problems. Nevertheless, the literature has paid limited attention (if not entirely ignored) to the potential of simple yet effective CAW schemes that can operate in the presence of both A\&RSat elements. This paper revisits this issue and proposes modifications to two well-known controllers: PID and LQI. The obtained results, benchmarked on the REMUS AUV yaw control problem and compared with constrained MPC, indicate that these classical techniques can still provide simple yet effective solutions with comparable performance, at least for SISO systems. These findings may stimulate further research into solutions that achieve comparable performance with only one (or a limited number of) additional tuning parameters and straightforward implementation.
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