presentation on pid controller
TRANSCRIPT
8/10/2019 Presentation on PID Controller
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8/10/2019 Presentation on PID Controller
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8/10/2019 Presentation on PID Controller
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Any Practicalsystem is a
control system
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+
+
+
RV
r(t)MV
u(t)CONTROLLERD(s)
PLANTG(s)
SENSOR
H(s)
Error Detector
Actuating
Error
e(t)
CV
c(t)
Feedback
signal
b(t)
Disturbance
N(s)
+-
^
Disturbancesignal
w(t)
Typical Block Diagram model for a Feedback Control System
8/10/2019 Presentation on PID Controller
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Proportional control
+
r(t) u(t)
G(s)K
H(s)
c(t)e(t)
-
Control action:- u(t)=Ke(t)Effect on Steady State Response:- Reduces the steady state error
Effect on Transient Response:- Increases the speed of response.
Limitations and shortcomings:- Saturation, noise and instability .
Hence new contr ol schemes (PI, PD) are conceived .
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Proportional and Integral (PI) control
+
r(t) u(t)
K G(s)
H(s)
K /s
c(t)e(t)
-+
+
Control action:- u(t)=Ke(t)+K I ∫e(t)dt
U(s)=(K+ K I /s)E(s) where K I =1/T I , T I =Integral or reset time
Effect on Steady State Response:- steady state error can be reduced to
zero exactly.
Effect on Transient Response:-Increases peak overshoot & reduces the
speed of response.
Limitations and shortcomings:- Reduces the stability margin of the
system.
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Proportional and Derivative (PD) control
+
r(t) u(t)K G(s)
H(s)
sK
c(t)e(t)
-+
+
Control action:- u(t)=Ke(t)+K D(de/dt)
U(s)=(K+ sK D )E(s) where K D=K c T D , T D=Derivative or rate time.
Effect on Steady State Response:- Almost no effect .
Effect on Transient Response:-Decreases the peak overshoot by
improving the effective damping of the system.
Limitations and shortcomings:- Amplifies the high frequency noise
signals.
8/10/2019 Presentation on PID Controller
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Proportional ,Integral & Derivative (PID) control
Control action:-By proper adjustment of K, K D ,K the transient and
dynamic responses are properly shaped.
Problems:-Tuning of PID controller is a difficult job.
+
r(t) u(t)G(s)
H(s)
c(t)e(t)
-+
+
+
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Let
M = Mass=1kg
b =co-efficient of damping= 10 N.s/m
k = spring constant=20 N/m
MASS,SPRING,DAMPER system-A simple 2nd order system
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System without any controller
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Response of the system without any controller
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System with P controller
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Response of the system with P controller
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System with PD controller
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Response of the system with PD controller
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System with PI controller
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Response of the system with PI controller
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System with PID controller
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Response of the system with PID controller
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VOLTAGE
SUPPLY
LOAD
r f af a i L E
+
-
er T ,
LT
+
-
ar
ai
ar r
a L
fr r
f i
f r
f u
f L
auaxisquadrature
axisdirect
armature
field
Speed Control system of Separately excited DC motor
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BLOCK DIAGRAM MODEL
w+Tm
+wr er
KP D(S) KT/Ra 1/(Js+B)
Kb
Kt
TW
eb
ea
-+ -+
et
Kp=Potentiometer constantKt= Tacho-generator constant
Kb=Back emf constant
KT=Torque constant
Tw=Disturbance torque/ load torque.Tm=Electromagnetic Torque developed by motor.
D(s)=Controller Transfer Function.
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ACKNOWLEDGEMENT
•en.wikipedia.org
•www.youtube.com
•‘Modern Control Engineering ‘ by k.Ogata.
•‘Control Systems: Principles and Design’ by Madan Gopal.
•‘PID -controllers, Theory Design and Tuning’ by K Astrom and
T Hagglund
•‘Automatic Control Systems’ by B.C Kuo
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!!!!THANK YOU!!!