pid controller control engineering and signal processing michala srnová 2009/2010
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PID controller
Control engineering and signal processing
Michala Srnová2009/2010
Content Compensator P compensator PI compensator Lead compensator Lag compensator PID controller
PID controller Proportional + integral + derivative
Transfer function: KD – derivative gain Used in majority of closed-loop industrial processes
PID controller Step response
Rise time Overshoot Settling Time Steady state Error
Effect of increasing the parameters:
Tune Alter step response Find out parameter Kp, Ki, Kd Various methods
Manual Tuning Ziegler-Nichols Software Tools Cohen-Coon
Manual Tuning No math required On-line method
1. What in characteristic need to be improved2. Kp – decrease the rise time3. Kd – reduce overshoot and settling time4. Ki – eliminate steady state error
Does not work in every time
Ziegler-Nichols Rules for determine Kp, Ki, Kd Based on step response Proposed more methods First method – Step response method No integrators No dominant
complex-pairs Response:
s-shape, no overshoot Ʈ, a
Ziegler-Nichols Parameters Ʈ and a – calculating
Drawbacks: lack robustness Improvement : K, Ʈ, T in model
From step response
Ziegler Nichols Second method – frequency response
1. Ki and Kd =0, setting of Kp2. Starting of ocsillations → Kc, period – Tc3. These values used to calculate Kp,Ki,Kd
Software Tuning Modern industrial facilities Online, offline method Software will
Gather data Develop process model Suggest optimal tuning
Principle Mathematical loops Frequency response to impulse Design PID loop values
Thank you for your attention
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