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  • PID Tuner

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    nikolay molano
    15 views2 pages
    This document contains code that defines a transfer function model and calculates the parameters for a proportional-derivative (PD) controller for that model. It first defines the plant transfer function, then calculates convolution products to determine the PD controller parameters. It expresses the controller as a transfer function and validates it using a PID tuning tool.

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    Original Title

    PID_Tuner

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    This document contains code that defines a transfer function model and calculates the parameters for a proportional-derivative (PD) controller for that model. It first defines the plant transfer function, then calculates convolution products to determine the PD controller parameters. It expresses the controller as a transfer function and validates it using a PID tuning tool.

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    © All Rights Reserved
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    15 views2 pages

    PID Tuner

    Uploaded by

    nikolay molano
    This document contains code that defines a transfer function model and calculates the parameters for a proportional-derivative (PD) controller for that model. It first defines the plant transfer function, then calculates convolution products to determine the PD controller parameters. It expresses the controller as a transfer function and validates it using a PID tuning tool.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    of 2

    %Num=[37.58 0 1.

    294e-13]
    Num=-1.29*10e-13

    Num = -1.2900e-13

    Den=[1 0 26.74 0 9.2*10e-14];


    sys=tf(Num,Den)

    sys =

    -1.29e-13
    -------------------------
    s^4 + 26.74 s^2 + 9.2e-14

    Continuous-time transfer function.

    z=0.7;
    ts=4;
    wn=4.6/(ts*z);
    pd1=conv([1 2*z*wn wn^2],[1 2*z*wn wn^2]);
    pd=conv(pd1,[1 5*wn*z])

    pd = 1×6
    1.0000 10.3500 37.1380 73.8711 78.6725 41.8858

    pc=[Den 0]

    pc = 1×6
    1.0000 0 26.7400 0 0.0000 0

    Kd3=(pd(2)-pc(2))/Num

    Kd3 = -8.0233e+13

    Kd2=(pd(3)-pc(3))/Num

    Kd2 = -8.0604e+13

    Kd1=(pd(4)-pc(4))/Num

    Kd1 = -5.7264e+14

    kp=(pd(5)-pc(5))/Num

    kp = -6.0986e+14

    ki=(pd(6)-pc(6))/Num

    ki = -3.2470e+14

    Gc=pidtune(sys,"PD")

    Gc =

    Kp + Kd * s

    1
    with Kp = -6.51e+14, Kd = -2.76e+14

    Continuous-time PD controller in parallel form.

    pidTuner(sys,Gc)

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