摘要：针对感应电机直接转矩控制系统的非线性饱和特性，提出了一种带积分状态估计器的Anti-Windup 转速控制器来抑制积分Windup现象，当PI控制器开始在线性区运行时，以预测的PI输出饱和时的积分状态稳态值作为积分器的初值，使得在系统出现饱和时，控制器可以快速退出饱和区。实验结果表明，该控制器能有效抑制积分Windup现象，转速响应快，且无超调，控制性能优于常规Anti-windup控制器。

关键词：感应电机；饱和非线性；Antiwindup PI控制器；积分状态预测
Abstract: Aim to the saturation nonlinearity of the speed control loop for direct torque controlled induction motor driving system, a novel antiwindup PI controller was proposed to suppress the integral windup phenomenon. The proposed method separately controls the integral state according to whether the controller output is saturated or not. When the PI controller operates in nonlinear saturation region, a state predictor was employed to estimate the steady state value of the integrator. When PI controller enters the linear region, the estimated steadystate integral state was used as the initial value of the integrator, which made the specification of the driving system only dominated by PI gains and wasnt affected by load torque variation. It can make the system leaving saturation as soon as possible. As a result, the overshoot is reduced and the settling time is shortened. The experimental results show that this method can significantly suppress the integral windup phenomenon and improve the control performance.

Key words: induction motor；saturation nonlinearity；antiwindup PI controller；integral state prediction