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Summary
PID Controller
PID Tuning
Discrete-time Implementation
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Open-loop control
- If the plant changes slightly, the output will no longer match the reference.
Open-loop control
Perturbations Process
Reference Controller
output variable
Closed-loop control
- The main difference between open-loop and the closed loop control is the
presence of feedback in the closed-loop system.
- If the controller is well projected, the plant output will converge to the
desired reference even in presence of undesired disturbances d(t).
Reference
Feedback
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Open-loop system:
Closed-loop system:
Timing definitions
• Dead time
• Response time
• Lag or latency
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• K - Proportional Term
• TI - Integral time
• TD - Derivative time
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Tunning issues
• Proportional Term:
• Gain too high-> unstable
• Integral Term
• Long period with errors->Windup
• Derivative Term
• High-Frequency noise
• “Derivative Kick”
Problem: “Windup”
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Tunning methods
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Ziegler-Nichols Method
• Pick a P Controler
Digital system
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Numerical Approximation
uk = Pk + Ik + Dk
PID Pseudo-code
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Pratical example
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Bibliography
• Summary:
• http://en.wikipedia.org/wiki/PID_controller
• Books on control:
• Feedback Control of Dynamic Systems - G.F. Franklin,
J. Powell, A. Emami-Naeini
• Control System Design Lecture Notes for ME 155A -
K.J. Astrom
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