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    Projektni Zadatak Automatika

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    Amer Jasarevic
    Based on the simulations, here are the key findings: - Increasing Kp decreases rise time and overshoot, but can cause instability if increased too much - Increasing Ti decreases overshoot, but increases rise time and settling time - Increasing Td decreases overshoot and settling time, but increases rise time - An optimal tuning would have Kp=16, Ti=2, Td=0.33, giving a rise time of 0.267, overshoot of 12.3%, and settling time of 2.88 In summary, the simulations show that adjusting the PID parameters impacts the system response in expected ways, and an optimal tuning was found that provides good rise time, overshoot and settling

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    Projektni Zadatak Automatika

    Uploaded by

    Amer Jasarevic
    20 views19 pages
    Based on the simulations, here are the key findings: - Increasing Kp decreases rise time and overshoot, but can cause instability if increased too much - Increasing Ti decreases overshoot, but increases rise time and settling time - Increasing Td decreases overshoot and settling time, but increases rise time - An optimal tuning would have Kp=16, Ti=2, Td=0.33, giving a rise time of 0.267, overshoot of 12.3%, and settling time of 2.88 In summary, the simulations show that adjusting the PID parameters impacts the system response in expected ways, and an optimal tuning was found that provides good rise time, overshoot and settling

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    projektniZadatakAutomatika

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    Based on the simulations, here are the key findings: - Increasing Kp decreases rise time and overshoot, but can cause instability if increased too much - Increasing Ti decreases overshoot, but increases rise time and settling time - Increasing Td decreases overshoot and settling time, but increases rise time - An optimal tuning would have Kp=16, Ti=2, Td=0.33, giving a rise time of 0.267, overshoot of 12.3%, and settling time of 2.88 In summary, the simulations show that adjusting the PID parameters impacts the system response in expected ways, and an optimal tuning was found that provides good rise time, overshoot and settling

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as docx, pdf, or txt
    20 views19 pages

    Projektni Zadatak Automatika

    Uploaded by

    Amer Jasarevic
    Based on the simulations, here are the key findings: - Increasing Kp decreases rise time and overshoot, but can cause instability if increased too much - Increasing Ti decreases overshoot, but increases rise time and settling time - Increasing Td decreases overshoot and settling time, but increases rise time - An optimal tuning would have Kp=16, Ti=2, Td=0.33, giving a rise time of 0.267, overshoot of 12.3%, and settling time of 2.88 In summary, the simulations show that adjusting the PID parameters impacts the system response in expected ways, and an optimal tuning was found that provides good rise time, overshoot and settling

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    © All Rights Reserved
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    of 19

    JUMS Elektrotehnička škola Tuzla

    PROJEKTNI ZADATAK AUTOMATIKA

    Ime i prezime:
    >> s = tf('s')

    s=

    Continuous-time transfer function.

    >> Kp = [13]

    Kp =

    13

    >> Ti = [1.65]

    Ti =

    1.6500

    >> Td = [0.35]

    Td =

    0.3500

    >> Gcnum = Kp*[Ti*Td Ti 1]

    Gcnum =

    7.5075 21.4500 13.0000

    >> Gcden = [0 Ti 0]

    Gcden =

    0 1.6500 0

    >> Gnum = [0 0 2 10]

    Gnum =

    0 0 2 10

    >> Gden = [1 13 5 7]

    Gden =

    1 13 5 7

    >> [G1, G2] = series(Gcnum, Gcden, Gnum, Gden)


    G1 =

    0 0 15.0150 117.9750 240.5000 130.0000

    G2 =

    0 1.6500 21.4500 8.2500 11.5500 0

    >> [fnum, fden] = cloop(G1, G2)

    fnum =

    0 0 15.0150 117.9750 240.5000 130.0000

    fden =

    0 1.6500 36.4650 126.2250 252.0500 130.0000

    >> step(fnum, fden, 30)

    OS = 14.2%
    Rise Time = 0.304
    Settling Time = 3.12
    >> s = tf('s')

    s=

    Continuous-time transfer function.

    >> Kp = [14.5]

    Kp =

    14.5000

    >> Ti = [1.65]

    Ti =

    1.6500

    >> Td = [0.35]

    Td =

    0.3500

    >> Gcnum = Kp*[Ti*Td Ti 1]

    Gcnum =

    8.3737 23.9250 14.5000

    >> Gcden = [0 Ti 0]

    Gcden =

    0 1.6500 0

    >> Gnum = [0 0 2 10]

    Gnum =

    0 0 2 10

    >> Gden = [1 13 5 7]

    Gden =

    1 13 5 7

    >> [G1, G2] = series(Gcnum, Gcden, Gnum, Gden)


    G1 =

    0 0 16.7475 131.5875 268.2500 145.0000

    G2 =

    0 1.6500 21.4500 8.2500 11.5500 0

    >> [fnum, fden] = cloop(G1, G2)

    fnum =

    0 0 16.7475 131.5875 268.2500 145.0000

    fden =

    0 1.6500 38.1975 139.8375 279.8000 145.0000

    >> step(fnum, fden, 30)

    OS = 13.2%
    Rise Time = 0.282
    Settling Time = 2.99
    >> s = tf('s')

    s=

    Continuous-time transfer function.

    >> Kp = [16]

    Kp =

    16

    >> Ti = [1.65]

    Ti =

    1.6500

    >> Td = [0.35]

    Td =

    0.3500

    >> Gcnum = Kp*[Ti*Td Ti 1]

    Gcnum =

    9.2400 26.4000 16.0000

    >> Gcden = [0 Ti 0]

    Gcden =

    0 1.6500 0

    >> Gnum = [0 0 2 10]

    Gnum =

    0 0 2 10

    >> Gden = [1 13 5 7]

    Gden =

    1 13 5 7

    >> [G1, G2] = series(Gcnum, Gcden, Gnum, Gden)


    G1 =

    0 0 18.4800 145.2000 296.0000 160.0000

    G2 =

    0 1.6500 21.4500 8.2500 11.5500 0

    >> [fnum, fden] = cloop(G1, G2)

    fnum =

    0 0 18.4800 145.2000 296.0000 160.0000

    fden =

    0 1.6500 39.9300 153.4500 307.5500 160.0000

    >> step(fnum, fden, 30)

    OS = 12.3%
    Rise Time = 0.263
    Settling Time = 2.87
    >> s = tf('s')

    s=

    Continuous-time transfer function.

    >> Kp = [16]

    Kp =

    16

    >> Td = [0.33]

    Td =

    0.3300

    >> Ti = [1]

    Ti =

    >> Gcnum = Kp*[Ti*Td Ti 1]

    Gcnum =

    5.2800 16.0000 16.0000

    >> Tcden = [0 Ti 0]

    Tcden =

    0 1 0

    >> Gnum = [0 0 2 10]

    Gnum =

    0 0 2 10

    >> Gden = [1 13 5 7]

    Gden =

    1 13 5 7

    >> [G1, G2] = series(Gcnum, Gcden, Gnum, Gden)


    G1 =

    0 0 10.5600 84.8000 192.0000 160.0000

    G2 =

    0 1.6500 21.4500 8.2500 11.5500 0

    >> [fnum, fden] = cloop(G1, G2)

    fnum =

    0 0 10.5600 84.8000 192.0000 160.0000

    fden =

    0 1.6500 32.0100 93.0500 203.5500 160.0000

    >> step(fnum, fden, 30)

    OS = 16.2%
    Rise Time = 0.258
    Settling Time = 2.8
    >> s = tf('s')

    s=

    Continuous-time transfer function.

    >> Kp = [16]

    Kp =

    16

    >> Td = [0.33]

    Td =

    0.3300

    >> Ti = [1.65]

    Ti =

    1.6500

    >> Gcnum = Kp*[Ti*Td Ti 1]

    Gcnum =

    8.7120 26.4000 16.0000

    >> Gcden = [0 Ti 0]

    Gcden =

    0 1.6500 0

    >> Gnum = [0 0 2 10]

    Gnum =

    0 0 2 10

    >> Gden = [1 13 5 7]

    Gden =

    1 13 5 7

    >> [G1, G2] = series(Gcnum, Gcden, Gnum, Gden)


    G1 =

    0 0 17.4240 139.9200 296.0000 160.0000

    G2 =

    0 1.6500 21.4500 8.2500 11.5500 0

    >> [fnum, fden] = cloop(G1, G2)

    fnum =

    0 0 17.4240 139.9200 296.0000 160.0000

    fden =

    0 1.6500 38.8740 148.1700 307.5500 160.0000

    >> step(fnum, fden, 30)

    OS = 13.2%
    Rise Time = 0.265
    Settling Time = 2.84
    >> s = tf('s')

    s=

    Continuous-time transfer function.

    >> Kp = [16]

    Kp =

    16

    >> Ti = [2]

    Ti =

    >> Td = [0.33]

    Td =

    0.3300

    >> Gcnum = Kp*[Ti*Td Ti 1]

    Gcnum =

    10.5600 32.0000 16.0000

    >> Gcden = [0 Ti 0]

    Gcden =

    0 2 0

    >> Gnum = [0 0 2 10]

    Gnum =

    0 0 2 10

    >> Gden = [1 13 5 7]

    Gden =

    1 13 5 7

    >> [G1, G2] = series(Gcnum, Gcden, Gnum, Gden)


    G1 =

    0 0 21.1200 169.6000 352.0000 160.0000

    G2 =

    0 2 26 10 14 0

    >> [fnum, fden] = cloop(G1, G2)

    fnum =

    0 0 21.1200 169.6000 352.0000 160.0000

    fden =

    0 2.0000 47.1200 179.6000 366.0000 160.0000

    >> step(fnum, fden, 30)

    OS = 12.3%
    Rise Time = 0.267
    Settling Time = 2.88
    >> s = tf('s')

    s=

    Continuous-time transfer function.

    >> Kp = [16]

    Kp =

    16

    >> Ti = [2]

    Ti =

    >> Td = [0.20]

    Td =

    0.2000

    >> Gcnum = Kp*[Ti*Td Ti 1]

    Gcnum =

    6.4000 32.0000 16.0000

    >> Gcden = [0 Ti 0]

    Gcden =

    0 2 0

    >> Gnum = [0 0 2 10]

    Gnum =

    0 0 2 10

    >> Gden = [1 13 5 7]

    Gden =

    1 13 5 7

    >> [G1, G2] = series(Gcnum, Gcden, Gnum, Gden)


    G1 =

    0 0 12.8000 128.0000 352.0000 160.0000

    G2 =

    0 2 26 10 14 0

    >> [fnum, fden] = cloop(G1, G2)

    fnum =

    0 0 12.8000 128.0000 352.0000 160.0000

    fden =

    0 2.0000 38.8000 138.0000 366.0000 160.0000

    >> step(fnum, fden, 30)

    OS = 21.1%
    Rise Time = 0.283
    Settling Time = 2.58
    >> s = tf('s')

    s=

    Continuous-time transfer function.

    >> Kp = [16]

    Kp =

    16

    >> Td = 0.33

    Td =

    0.3300

    >> Ti = [2]

    Ti =

    >> Gcnum = Kp*[Ti*Td Ti 1]

    Gcnum =

    10.5600 32.0000 16.0000

    >> Gcden = [0 Ti 0]

    Gcden =

    0 2 0

    >> Gnum = [0 0 2 10]

    Gnum =

    0 0 2 10

    >> Gden = [1 13 5 7]

    Gden =

    1 13 5 7

    >> [G1, G2] = series(Gcnum, Gcden, Gnum, Gden)


    G1 =

    0 0 21.1200 169.6000 352.0000 160.0000

    G2 =

    0 2 26 10 14 0

    >> [fnum, fden] = cloop(G1, G2)

    fnum =

    0 0 21.1200 169.6000 352.0000 160.0000

    fden =

    0 2.0000 47.1200 179.6000 366.0000 160.0000

    >> step(fnum, fden, 30)

    OS = 12.3%
    Rise Time = 0.267
    Settling Time = 2.88
    >> s = tf('s')

    s=

    Continuous-time transfer function.

    >> Kp = [16]

    Kp =

    16

    >> Ti = [2]

    Ti =

    >> Td = [0.40]

    Td =

    0.4000

    >> Gcnum = Kp*[Ti*Td Ti 1]

    Gcnum =

    12.8000 32.0000 16.0000

    >> Gcden = [0 Ti 0]

    Gcden =

    0 2 0

    >> Gnum = [0 0 2 10]

    Gnum =

    0 0 2 10

    >> Gden = [1 13 5 7]

    Gden =

    1 13 5 7

    >> [G1, G2] = series(Gcnum, Gcden, Gnum, Gden)


    G1 =

    0 0 25.6000 192.0000 352.0000 160.0000

    G2 =

    0 2 26 10 14 0

    >> [fnum, fden] = cloop(G1, G2)

    fnum =

    0 0 25.6000 192.0000 352.0000 160.0000

    fden =

    0 2.0000 51.6000 202.0000 366.0000 160.0000

    >> step(fnum, fden, 30)

    OS = 9.56%
    Rise Time = 0.258
    Settling Time = 2.93

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