:

PID

PID


PID .
.

:
90551338
:

:
:
:


:

PID

PID
.


.
PID
.
:
.
. PID

.

( PID ) .
.
PID
.
.

.
.
.

:
-1 .

http://ee.sharif.edu/~eeprojects .
-2
(

 WORD
)
.

.

Thesis Title:
Some Advanced Methods of PID Controller Design

Student Name:
Seyed Hadi Roohani Rankoohi
Student Number:
83115009
Program of Study:
Electrical Engineering
Field of Study:
Control
Thesis Advisor:
Dr. Masood Karimi
Thesis Co-Advisor
Thesis Consultant:
Second Student:
Seyed Moin Seyed Fakhari

Date: September
2008

Abstract:
Proportional-Integral-Derivative controllers are
the most widely used ones in industry, actually,
more than ninety percent of all the implemented
controllers are PID controllers, this obviously
shows the PID controller importance.
In spite of its relative simplicity, the design of the
PID controller is not limited to tuning of its three
coefficients. Various factors, including controller
structure, process degree, ratio of dead-time to
dominant time constant, derivative filter design
and its tuning, integrator windup and system nonlinearity, etc, can affect the controller
performance.
Among these factors, two important ones are:
Derivative filter design, and integrator windup
effect, which we will discuss in detail in this
project.

Keywords:

First of all, basics of PID control, its different

structures, and some modifications of the basic
PID control law, along with some guidelines of
choice of controller type are discussed.

PID Controller,
Proportional Control,
Integral Action,
Derivative Action,
Derivative Filter,
Anti-Windup method,
Conditional Integration,
Back Calculation.

In the Derivative Filter Design chapter, we

emphasis on four-parameter tuning of PID
controller and represent several simulation to
show the effectiveness of the method. Besides, the
performance of the derivative filter on different
structures of the controller is discussed.

Another chapter is dedicated to the integrator

anti-windup methods; several techniques,
including conditional integration and backcalculation, are introduced and compared. In
most of the discussions, the simplicity of
design and cost/benefit efficiency has been
considered. Also some of the results are
emphasized through simulations.