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Pid Design
Pid Design
:
PID
P , I , D
P.I.D
) (
-
-
)
(
- ) ( PLANT OR PROCESS
.
- )
( COMPARATOR
.
OR
DETECTOR
ERROR
- ) ( CONTROLLER
) ( PID PD PI P
.
.
- " " )
SESNSOR OR TRANSEDUCER ( ELEMENT
FEED BACK
- ) ( MEASUREMENT
- ) ( DISCISION
- ) ( MANIPULATION
.
.
PNEUMATIC SYSTEM
HYDROLIC SYSTEM
DIGITAL CIRCUIT ELECTIC CIRCUIT
.
PID
:
P , I , D
P.I.D
:
)
(
STEP FEEDBACK
:
P
I . D
PLANT
) (
CONTROLLER
.
) (
PID
KP
KI
KD
.
e ) ( R
) ( Y
) ( e P.I.D
) ( u
) ( KP ) ( KI
.
P.I.D
) ( u )
) ( Y .
) ( Y
) ( e
.
PLANT
I P
) ( KP ) (
RISE TIME STEADY_STATE
D
ERROR )
KI
STEADY_STATE ERROR ) (
.
) ( KD
OVERSHOOT .
KI KD KP
-
KP
KI
KD
KD KI KP
. KD KP KI
:
MASS , SPRING AND DAMPER PROBLEM .
) X(S ) F(S
m = 1 kg
b = 10 n.s/m
k = 20 n/m
f(s) = 1
KP
KI
KD
) ( M-FILE
STEP FUNCTION
) (
; NUM = 1
; ] DEN = [ 1 10 20
; ) PLANT = TF ( NUM , DEN
) STEP ( PLANT
DC ) ( 1/20
0.05 UNIT STEP
0.95
1.5 .
) ( KP
KP = 300 ) ( M-FILE
; KP = 300
; CONTR = KP
; ) SYS_CL = FEEDBACK ( CONT * PLANT , 1
; T = 0 : 0.01 : 2
) STEP = ( SYS_CL , T
M-FILE
:
FEEDBACK
)
(
.
P.D
) ( KD
PD
KP = 300
FILE .
KD = 10
M-
; KP = 300
; KD = 10
; ) CONTR = TF ( [KD KP] , 1
; ) SYS_CL = FEEDBACK ( CONTR * PLANT , 1
; T = 0 : 0.01 : 2
) STEP ( SYS_CL , T
D P
.
) ( KI
KI = 70 KP = 30 )
M-FILE
; KP = 30
; KI = 70
; ) ]CONTR = TF ( [KP KI] , [1 0
; ) SYS_CL = FEEDBACK ( CONTR * PLANT , 1
; T = 0 : 0.01 : 2
) STEP ( SYS_CL , T
:
) ( KP ) ( KI
) ( .
.
P.I.D
P.I.D
.
) ( M-FILE
KP=350
KI=300
KD=50
; KP = 350
; KI = 300
; KD = 50
; ]NUM = [KD KP KI
;]DEN = [1 10+KD 20+KP KI
; T = 0 : 0.01 : 2
) STEP ( NUM , DEN ,T
.
) ( P.I.D
) ( P.I.D
.
-
-
-
-
- KD KI KP
-
.
KD KI KP
KI KP
KD KP