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CDM Based Pid Controller For Ball and Beam
CDM Based Pid Controller For Ball and Beam
CDM Based Pid Controller For Ball and Beam
AND BEAM
(A) -Design of CDM controller- The standard CDM block
diagram for single input output system is shown in figure 1.
N (S ) F ( s )
A (s ) N ( s)
r+
d
P( s)
P(S)
ai s i , ai> 0
i=0
Where, the controller polynomial (A(s) and B(s)) are given as,
p
A ( s ) = l i s i
i=0
q
B ( s ) = k i s
i=0
The design parameter of CDM are the stability indices ( 1 and the
equivalent time constant ( ). The stability indices determine the
stability of the system and the transient behavior of the time domain
responses (with overshoot, without overshoot and oscillation etc.)
ij j
j=1
ptarget
(s)=
)(
s i
)}+
s+1
..(7)
i=2
a0
there is a step response affecting the system. Thus the structure of the
controller be chosen with I 0 =0 as follows :
B(s)
A (s )
K s2 + K 1 s+ K 0
= 2
I1 s
Gc (s)=
P(s)= I 1 s) s 2 +( K 2 s 2 + K 1 s+ K 0 K
3 3
2 2
s +
s + s+1
2 1
1
..(13)
2
= K
1
K1
= K
K0
1
= K
and I 1
3
= 2
1 2
(14)
=1
17.75
1
0.402
=2
4.464
2.011
0.799
=2.5
2.856
2.514
1
=3
1.981
3.014
1.2009
=4
1.1152
4.021
1.6007