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    Idhichote Ben
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    The document discusses control techniques for determining the critical gain (Kcr) and critical period (Tcr) of a system using root locus analysis and simulations with increasing proportional gain (Kp). Kcr is found to be approximately 4243.5 and Tcr is found to be approximately 15ms. Various controller designs are then explored using proportional, PI, PD, and PID controllers with gains based on fractions of Kcr and Tcr to achieve different performance objectives like minimizing overshoot.

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    The document discusses control techniques for determining the critical gain (Kcr) and critical period (Tcr) of a system using root locus analysis and simulations with increasing proportional gain (Kp). Kcr is found to be approximately 4243.5 and Tcr is found to be approximately 15ms. Various controller designs are then explored using proportional, PI, PD, and PID controllers with gains based on fractions of Kcr and Tcr to achieve different performance objectives like minimizing overshoot.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as pdf or txt
    6 views24 pages

    Tutorial10 Solution

    Uploaded by

    Idhichote Ben
    The document discusses control techniques for determining the critical gain (Kcr) and critical period (Tcr) of a system using root locus analysis and simulations with increasing proportional gain (Kp). Kcr is found to be approximately 4243.5 and Tcr is found to be approximately 15ms. Various controller designs are then explored using proportional, PI, PD, and PID controllers with gains based on fractions of Kcr and Tcr to achieve different performance objectives like minimizing overshoot.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as pdf or txt
    of 24

    Taskliplat uning

    9 Kp Ker 4243.5
    Tar 15ms

    b Root locus method


    C P controller 0.5 Kar 212175
    Kp
    d
    PD Kp 0.8 Kara 3395
    0.725 Tak 0.0019s
    Td
    Kd Kp Td 76.365
    0.45 Hire 1910
    Pl Kp
    T 0.8 Ter 0.072s

    K If I 159131
    PID Kp 0.6 Kar 2546

    T 0.5 Tar 0.0075s

    To 0.725 Tcr 70.0079

    Ki 339467
    K 4.837

    e no overshoot

    Kp 0.2 Kir 848.7

    Ki 773760
    .
    4243
    Kd
    Finding 𝒌𝒄𝒓

    𝐾𝑝 = 1

    Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 5
    Finding 𝒌𝒄𝒓

    𝐾𝑝 = 10

    Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 6
    Finding 𝒌𝒄𝒓

    𝐾𝑝 = 1000

    Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 7
    Finding 𝒌𝒄𝒓

    𝐾𝑝 = 1000

    Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 8
    Finding 𝒌𝒄𝒓

    𝐾𝑝 = 10000

    Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 9
    Finding 𝒌𝒄𝒓

    𝐾𝑝 = 4250

    Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 10
    Finding 𝒌𝒄𝒓

    𝐾𝑝 = 4200

    Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 11
    Finding 𝒌𝒄𝒓

    𝐾𝑝 = 4243.5

    Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 12
    Critical gain 𝑲𝒄𝒓 and critical period 𝑻𝒄𝒓

    𝐾𝑐𝑟 ≈ 4243.5

    𝑇𝑐𝑟 ≈ 15 𝑚𝑠

    Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 13
    More elegant: Root locus plot

    Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 14
    More elegant: Root locus plot

    𝐾𝑐𝑟 ≈ 4230

    𝑇𝑐𝑟 = 2𝜋/𝜔𝑐𝑟
    𝑇𝑐𝑟 ≈ 15 𝑚𝑠

    Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 15
    P controller

    𝐾𝑝 = 0.5𝐾𝑐𝑟

    Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 17
    PD controller

    𝐾𝑝 = 0.8𝐾𝑐𝑟

    𝑇𝑑 = 0.125𝑇𝑐𝑟

    Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 18
    PI controller

    𝐾𝑝 = 0.45𝐾𝑐𝑟

    𝑇𝑖 = 0.8𝑇𝑐𝑟

    Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 19
    PID controller

    𝐾𝑝 = 0.6𝐾𝑐𝑟

    𝑇𝑖 = 0.5𝑇𝑐𝑟

    𝑇𝑑 = 0.125𝑇𝑐𝑟

    Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 21
    PID controller with „less overshoot“

    ത 𝑐𝑟
    𝐾𝑝 = 0.33𝐾

    𝑇𝑖 = 0.5𝑇𝑐𝑟

    𝑇𝑑 = 0.33ത 𝑇𝑐𝑟

    Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 22
    PID controller with „no overshoot“

    𝐾𝑝 = 0.2𝐾𝑐𝑟

    𝑇𝑖 = 0.5𝑇𝑐𝑟

    𝑇𝑑 = 0.33ത 𝑇𝑐𝑟

    Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 23
    Auto-tuned PID controller

    Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 24
    t

    9 Transferfunction
    o o m X s s Kx Xist ki Isis
    Xk us tax ki Ish

    Gls YI Ih Pan tf
    it s

    if I Criticallystable

    State space mi kxx ki Is


    X
    E if Ex Is
    U Is y x

    Is 3 x
    E u
    yes of
    d

    KRO
    Kxco
    c Controllability

    II 8 E 4 2 REB AB

    RIB AB A'B A B

    AB
    T 2 FIJI
    full
    Rt
    rank
    If
    Completely state
    controllable

    d Ax Bu U Kx

    XTIIItenj.es closed looppoles

    def SI A Bk S
    pas s
    plz
    s pea

    2 examples K kn k

    s F 203
    É É
    o
    e s

    2 5 25 5 15
    P
    1
    deff IA BK det s FI 8 Fella k

    s 10 s 20
    def f
    I 52
    I If deff I
    30s 700

    S2 kinds kxink.tk I 52 30 200

    K 397 0.743 K Ft 2001

    14 2007 0.743

    2 s 5 5 s says
    detgtg.ly
    s kids Kyiv I 52 5
    t 25
    s 5j 5 25 1.25 s j 5 25

    52 705 50

    K 797 0.0095 K 2911 2000

    K IF2000 0.00953
    e Matlab

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