1. سیستمهای کنترل خطی پاییز 1389 بسم ا... الرحمن الرحيم دکتر حسين بلندي - دکتر سید مجید اسما عیل زاده

8. Lead-Lag controller design controller design

11. PI controller design

21. PD controller design

26. PID controller design

30. با آرزوی توفیق الهی

31. 31

32. 32

33. 33

34. 34

35. 35

36. 36

37. 37

38. 38

40. 40

41. 41

42. Example 9:

54. Conclusions

55. Conclusion - PID The standard PID controller is described by the equation:

56. PI and PID controllers are widely used in industrial control. From a modern perspective, a PID controller is simply a controller of (up to second order) containing an integrator. Historically, however, PID controllers were tuned in terms of their P, I and D terms. It has been empirically found that the PID structure often has sufficient flexibility to yield excellent results in many applications.

57. The basic term is the proportional term, P, which causes a corrective control actuation proportional to the error. The integral term, I gives a correction proportional to the integral of the error. This has the positive feature of ultimately ensuring that sufficient control effort is applied to reduce the tracking error to zero. However, integral action tends to have a destabilizing effect due to the increased phase delay.

58. The derivative term, D, provides a predictive capability yielding a control action proportional to the rate of change of the error. This tends to have a stabilizing effect but often leads to large control movements. Various empirical tuning methods can be used to determine the PID parameters for a given application. They should be considered as a first guess in a search procedure.

59. Attention should also be paid to the PID structure. Systematic model-based procedures for PID controllers will be covered in later chapters. A controller structure that is closely related to PID is a lead-lag network. The lead component acts like D and the lag acts like I.

60. Application of PID Control PID regulators provide reasonable control of most industrial processes, provided that the performance demands is not too high. PI control are generally adequate when plant/process dynamics are essentially of 1 st -order. PID control are generally ok if dominant plant dynamics are of 2 nd -order. More elaborate control strategies needed if process has long time delays, or lightly-damped vibrational modes