Formula Sheet #2

Transient Response Characteristics

Delay Time/Gecikme zamanı


c(t d )  0.5  1  e ntd (cos d t  sin d t )
1  2
entd  0.5

Peak Time/Maksimuma Erişme zamanı

Rise Time/Yükselme zamanı

Maksimum Overshoot/Maksimum Aşma

Maximum Pecent Overshoot/Maksimum Aşma Yüzdesi

M .P.O. 

Settling Time/Yerleşme Zamanı

%2 Kriteri %5 Kriteri
4 3
ts  ts 
n n
 Sürekli RejimHatası

R(s) C(s)
G(s)
)

H(s)
1
E(s)  R( s)
1+G(s)H(s)
s
ess  lim e(t )  lim sE ( s)  lim R( s )
t  s 0 s  0 1+G(s)H(s)
Stability
N ( s) bm s m  ...  b1s  b0
G(s)  
D( s ) an s n  ...  a1s  a0

Basic Control Actions/Temel Kontrol İşlemleri

Onn-off Control

e(t) > 0 m(t)=OFF

e(t) < 0 m(t)=ON

P control

m(t)=Kp e(t)

M(s)=Kp E(s)

I Control

m(t )  K i  e(t )dt

Ki
M ( s)  E (s)
s

D Control

de(t )
m(t )  K d
dt
M ( s )  K d sE ( s )
PD Control
 de(t ) 
m(t )  K p  e(t )  Td 
 dt 
M ( s )  K p 1  Td s  E ( s )

PI Control
 1 
m(t )  K p  e(t )   e(t )dt 
 Ti 
 1 
M ( s )  K p 1   E ( s)
 Ti s 
PID Control
 1 de(t ) 
m(t )  K p  e(t )   e(t ) dt  Td 
 Ti dt 
 1 
M ( s )  K p 1   Td s  E ( s)
 Ti s 

PID Tuning

Ziegler–Nichols Oscillation method

Control Type Kp Ti Td

P 0.5K pmax - -

PI 0.45K pmax 0.825P u -

PID 0.6K pmax 0.5P u 0.125P u

Ziegler–Nichols Reaction Curve Method