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PNPT L: T"L@: KTLR, Ay Ij / 'ND'

- The document describes the design of a PID controller for a system. - First, a PD controller is designed to meet transient response specifications by placing the closed-loop poles at specific locations. Then, an additional PI controller is added to achieve zero steady-state error. - The gains for the PD and PID controllers are determined through root locus analysis to meet the design criteria of 2/3 peak time and zero steady-state error. - The PID controller best meets the specifications while the PD controller only partially meets the peak time specification.

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86 views

PNPT L: T"L@: KTLR, Ay Ij / 'ND'

- The document describes the design of a PID controller for a system. - First, a PD controller is designed to meet transient response specifications by placing the closed-loop poles at specific locations. Then, an additional PI controller is added to achieve zero steady-state error. - The gains for the PD and PID controllers are determined through root locus analysis to meet the design criteria of 2/3 peak time and zero steady-state error. - The PID controller best meets the specifications while the PD controller only partially meets the peak time specification.

Uploaded by

jonthemes
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 10

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Example 2 (PID, Nise): Given the system below,


design a PID controller so that the system operates
with 2/3 of the uncompensated peak time at 20%
overshoot and zero steady-state error:
R( s)

K1

K2
K3s
s

K s 8

s 3 s 6 s 10

C (s)

Step 1: Evaluate performance of uncompensated


system
t
operating
ti att 20% overshoot
h t ( = 0.456).
0 456)
Obtain the root-locus plot and draw the 20%
overshoot line to determine the closed-loop dominant
poles:
MAAE 4500: Feedback Control

Step 2: Design a PD
compensator to meet
the transient response
specs (determine the
zero location and the
PD controller gain).
The real and imaginary
parts of the dominant
pole must be:
tp

0.297
d 10.569


MAAE 4500: Feedback Control

2 3 0.297

tan 117.129

15.867
8.13
2

s 8

s 3 s 6 s 10 s 8.13 j15.867
198.371

Next, design the PD


compensator. The
contribution from the
compensator zero must
be:
180 (198.371 ) 360 18.371

From the Figure:


15.867
tan 18.371
zc 8.13
zc 55.909

G1 ( s ) K s 55.909

MAAE 4500: Feedback Control

G1 ( s )G ( s )

K s 55.909 s 8

s 3 s 6 s 10

Draw the root-locus of


the PD-compensated
system to determine the
gain and the static
di l
displacement
t error ((and
d
the steady-state error):
K p G1 (0)G (0)
5.339 8 55.909
13.267
3 6 10
1
1
ess

0.070
0 070
1 K p 1 13.267

MAAE 4500: Feedback Control

G2 ( s )G1 ( s )G ( s )

K s 55.909 s 0.5 s 8
s s 3 s 6 s 10

Step 3: Design a PI
compensator to meet
the steady-state error
(determine the zero
location arbitrarilyy near
the origin [e.g. 0.5]
and place the pole at
the origin):
G2 ( s )

s zc s 0.5

s
s

Re-draw
R
d
th
the roott llocus
to determine the final
gain and the static
displacement error (and
the steady-state error)

K p lim G2 (0)G1 (0)G (0)


s 0

ess 0 (type 1)
MAAE 4500: Feedback Control

Step 4 Check the specs:


uncompensated

PD

PID

5.415 j10.569

8.13 j15.867

7.519 j14.676

121 510
121.510

5 339
5.339

4 604
4.604

Damping ratio,

0.456

0.456

0.456

Natural freq., n

11.875

17.829

16.49

0.2

0.2

0.2

0.267

0.198
(=2/3* 0.267)

0.214
(~4/5 * 0.267)

Static displ. error, Kp

5.4

13.267

Steady-state error, ess

0.156

0.070

Dominant poles
Gain K
Gain,

Max. overshoot, Mp
Peak time, tp

If not satisfactory redesign the PI controller


MAAE 4500: Feedback Control

Unit step response

PID compensated

uncompensated

Compensation yields the original system


faster and with no steady-state error; the
peak time is still a little large for the specs
(overshoot not altered).

MAAE 4500: Feedback Control

Step 5 Determine the PID controller gains:


R(s)

K1

G2 ( s )G1 ( s )

K s 8

K2
K3s
s

s 3 s 6 s 10

4.604 s 55.909 s 0.5


s

4.604 s 2 56.409 s 27.954


s

C (s)

K1 259.7

K 2 128.7

K 3 4.604

(One pole at the origin, one zero at 0.5 and one zero at
55.909)
MAAE 4500: Feedback Control

Summary of Controllers and Their Usage

MAAE 4500: Feedback Control

MAAE 4500: Feedback Control

10

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