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Control Actions - System Compensation: Chapter Objective: - Control Action - PID Controller
Control Actions - System Compensation: Chapter Objective: - Control Action - PID Controller
Chapter Objective:
Control Action
PID Controller
Neither the integrator nor the differential controller are used on its own.
There are usually used in combination with the proportional controller.
where , , and are the proportional , integral gain, and differential gain,
respectively.
Sometimes is written in the form
1 - Integral Time
1
- Derivative Time
1 1
0.5 0.5
data
data
0 0
-0.5 -0.5
-1 -1
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
Time (seconds) Time (seconds)
0.8
Open-loop Response
0.6
0.4
0.2
0
0 1 2 3 4 5 6 7 8 9 10
Time (seconds)
D + Km C
Tm s 1
-
For a unit step disturbance
Kp
1
lim
1
1 1
Step disturbance causes the output
1 to have a steady state value.
Therefore speed regulation is
affected.
Feb-17 ME2142 Feedback Control Systems C8.8
Copyright ME, NUS. All Rights Reserved.
Effects of Control Actions
dc motor under speed feedback control
PI Control D
R E T + + Km C
+
Gc
Tm s 1
-
where
R E T + + Km C
+
Gc
D + C Tm s 1
Km -
Tm s 1
-
Gc
1
1
lim 0
1
Disturbance has no effect on the
output in the steady state.
1 1
0.5 0.5
data
data
0 0
-0.5 -0.5
-1 -1
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
Time (seconds) Time (seconds)
1
Proportional Control with
2
/
2
1
Open-loop transfer is
1
Closed-loop system remains a Type 1 system with zero steady-state
error to step inputs.
Closed-loop Characteristic Equation 1
1 0 1 0
2
1
0
Addition of derivative control allows damping to be increased
without affecting system type and natural frequency.
Feb-17 ME2142 Feedback Control Systems C8.13
Copyright ME, NUS. All Rights Reserved.
Kp = 2, Kd = 1.2
1.4
Reference r(t)
c(t) with PD
c(t) P only
1.2
1
C.L. Unit Step Response
0.8
0.6
0.4
0.2
0
0 2 4 6 8 10 12 14 16 18 20
Time (seconds)
NT No definite trend
Note: This experience is generally true, but NOT always true.
PID Plant
R + E C
Gc(s) Gp(s)
-
R + E
Gc(s) Gp(s)
C 1
1
-
1
Method:
Obtain the unit step response of the system
Tuning controller based on the table below:
P 0
PI 0.9 0
0.3
PID 1.2 2 0.5
R + E
Gc(s) Gp(s)
C 1
1
-
Method:
Using proportional control action only, increase the output exhibits a sustained oscillation.
Take note of the critical gain value and its corresponding period
Tuning controller based on the table below:
P 0.5 0
1
PI 0.45 0
1.2
PID 0.6 0.5 0.125
1
1
1.4 1.4
1.2
1.2
Amplitude
0.8
0.8
Approach. 0.6
0.6
0.6 18 0.2
0.2
0.5 1.405 0
0 2 4 6 8 10
Time (seconds)
12 14 16 18 20
0.125 0.35124
0
0 5 10 15
Time (seconds)
1
18 1 0.35124
1.405
6.322 18 12.811
6 11.3223 18 12.811