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PI Control
Block Diagram
Add integral control to improve steady-state
error, (increases type number one) worse
E(s) C(s)
R(s)
Compensator Plant transient response or instability.
Add a proportional control controller has pole
at origin and zero.
Cascade Compensation
R(s)
Cascade compensation: integral term in feedback
Plant
C(s)
path is equivalent to a differentiator in the
forward path.
Compensator
Feedback Compensation
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PI Design Procedure Example: PI Design
1. Design a proportional controller to meet the
Design a controller for the system for
transient response specifications, i.e. place
percentage overshoot less than 5% and zero
the dominant closed-loop system poles at a
steady-state error due to step.
desired location
2. Add a PI controller with a zero at /10
3. Tune the gain of the system to move the
closed-loop pole closer to .
4. Check the time response and modify the
design until it is acceptable.
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Equate coefficients
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Step 2: Add PI Compensator RL for PI Compensated System
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PD Design
PD Control
Obtain the desired dominant pair from the
Can be used in cascade or feedback control. design specifications.
Zero pulls RL to left: improves the transient Angle of PD controller
j
response. scl
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a=wd/tan(thetac)+zeta*wn
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Example P-Control
Percentage overshoot less than 10%
Design a P-controller for % OS < 10%
Design a PD controller to reduce to 1 s.
PD Design
Root Locus for P-Control Reduce to 1 s
Angle of PD controller
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PD Controller Modified PD Design
Compensator zero
We need to speed up the time response.
1. Move zero closer to the j-axis.
. 2. Increase the gain.
Loop gain
Calculate the gain
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Step Response K = 70 PID Control zeros can be
complex conjugate
Procedure
1- Design a PD controller to meet the transient
response specifications.
2- Add a PI controller to meet the steady-state
specifications without appreciably affecting the
transient response.
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Root Locus with PID PID Design with K = 38
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RHP Pole Example
Zeros do not change the response due to the
ICs. For the closed-loop system with unity
feedback, design a controller to reduce the
Imperfect cancellation: RHP closed-loop pole.
percentage overshoot to less than 5% and
Example the settling time to less than 1.5 second.
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Step Response
Root Locus: Uncompensated
Uncompensated closed-loop system
With 10 included in MATLAB transfer function
Step Response
1.4
Root Locus System: untitled1
8 Peak amplitude: 1.39
1.2 Overshoot (%): 39.3
At time (sec): 2.69
6 System: untitled1
System: g Settling Time (sec): 11.1
Gain: 1
1
4 Pole: -0.348 + 1.21i
Damping: 0.276
Overshoot (%): 40.5
2 Frequency (rad/sec): 1.26
0.8
Imaginary Axis
Amplitude
0
0.6
-2
0.4
>> step(feedback(g,1))
-4
-6
0.2
-8
-8 -7 -6 -5 -4 -3 -2 -1 0 1 2
0
Real Axis 0 2 4 6 8 10 12 14 16 18 20
Time (sec)
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Design
Equating Coefficients
Loop gain
Cancel pole at 1 with a zero
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