Design and Modeling of Anti Wind Up PID Controllers - Complex System Modelling and Control Through Intelligent Soft Computations - page 37

Fig. 25 DC motor saturated input voltages (v)

these values reach a steady state value in comparison with the increasing values
when no AWC is implemented.
In Fig. 25 the saturated input voltages are obtained where as explained before,
these values affects the system performance when the actuator, or in this case the
DC motor input, is saturated due to the physical limits and properties of this model.
In Fig. 26 the armature currents of the DC motor are shown for the three cases in
which the expected values are reached when a disturbance input torque is applied to
the model. In Fig. 27 the mechanical torque of the model is depicted in the three
cases, so as it is noticed the

final value of 10 Nm, which is the value of the
disturbance torque applied at 0 s is reached in the three cases but with a higher
undershoot when there is no anti windup compensation.

Fig. 26 DC motor armature current i a