Download presentation
Presentation is loading. Please wait.
Published byJocelyn Ferguson Modified over 9 years ago
1
ENTC 395 Lecture 7a
2
Today 4 PID control –Overview –Definitions –Open loop response 4 Example –SIMULINK implementation
3
Reading 4 Last time Laplace Transforms Appendix F.1-F.4 4 Today: Handout - Control Theory 4 Next time: Handout - Control Theory
4
Control Systems Plant: A system to be controlled Controller:Provides the excitation for the plant, controls the overall system behavior
5
Controller: Inputs and Outputs R: Desired operating point Y: Actual operating point e:Error signal = R-Y u:Correction signal
6
PID Controllers K P = Proportional gain K I = Integral gain K D = Derivative gain Controller response may be a function of three components of the error signal
7
PID Controller Transfer Function K P = Proportional gain K I = Integral gain K D = Derivative gain In s space the transfer function looks like this:
8
Parameter Effects The effect of the Ks on a system are summarized below. Actual relations are more complex. Ks are not independent.
9
Example Our old friend the spring mass damper system
10
Example Our old friend the spring mass damper system M = 1kg b = 10 N.s/m k = 20 N/m F(t) = 1 (Step input)
11
Example The goal of this example is to demonstrate how K P, K I and K D modifies the system response. Goals: Fast rise time Minimum overshoot No steady-state error
12
Example -- Open loop response The open loop response is simply the response of the system with no controller in the loop.
13
Example -- Open loop response For a step input of 20 N the mass moves 1.0 m x=F/k x=20N/20(N/m) x=20m
14
Example -- Proportional Control Change problem add an active proportional controller
15
Example -- Proportional Control Change problem add an active proportional controller Response now changes also
16
Example -- PD Control Change active proportional controller add K D Response now changes also
17
Example -- PD Control- Response Change active proportional controller add K D Response now changes also
18
Example -- PID Control Change to active PID controller
19
Example -- PID Control Response Change to active PID controller
Similar presentations
© 2025 SlidePlayer.com. Inc.
All rights reserved.