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Discrete PID for Control Engineers

This document describes a discrete time PID controller. It uses numerical integration methods like trapezoidal approximation to discretize the integral and derivative terms. The z-transform of the equivalent discrete PID controller is derived. The controller gains are then redefined, and the transfer function is expressed as a standard second order form with coefficients b0, b1, and b2 that are functions of the redefined gains.

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156 views2 pages

Discrete PID for Control Engineers

This document describes a discrete time PID controller. It uses numerical integration methods like trapezoidal approximation to discretize the integral and derivative terms. The z-transform of the equivalent discrete PID controller is derived. The controller gains are then redefined, and the transfer function is expressed as a standard second order form with coefficients b0, b1, and b2 that are functions of the redefined gains.

Uploaded by

劉品賢
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

Discrete Time PID Controller for DPEK

This controller is based on the “ideal” PID, which in Laplace form is written
KI
G (s) = K P + + s KD
s

Discrete approximation by numerical integration is used for the integral and derivative terms. The
derivative term uses backwards Euler approximation which leads to the substitution
z −1
s←
Tz

The integral term uses trapezoidal approximation, with the substitution

2 z −1
s←
T z +1

The z-transform of the equivalent PID controller becomes

T z +1 z −1
G( z) = K P + KI + KD
2 z −1 Tz

Re-arranging to express each terem as a power of z:

2Tz ( z − 1) G ( z ) = K P 2Tz ( z − 1) + K I T 2 z ( z + 1) + K D 2( z − 1) 2

(2Tz 2 − 2Tz ) G ( z ) = z 2 (2TK P + T 2 K I + 2 K D )


+ z (−2TK P + T 2 K I − 4 K D ) + 2 K D

The controller gains are re-defined by:


′
KP = KP
′ T
KI = KI
2
′ 1
KD = KD
T

Inserting these into the controller equation gives

′ ′ ′
(2Tz 2 − 2Tz ) G ( z ) = z 2 (2TK P + 2TK I + 2TK D )
′ ′ ′ ′
+ z (−2TK P + 2TK I − 4TK D ) + 2TK D
A common factor of 2T can be removed and the equation re-arranged to find the transfer function
b0 z 2 + b1 z + b2
G( z) =
z2 − z
where…
′ ′ ′
b0 = K P + K I + K D
′ ′ ′
b1 = − K P + K I − 2 K D
′
b2 = K D

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