Contents
L. lntrod uction
2. Deflnition of P, I and D in contrnller design
3. ?, Pl, and PID ideal controller structure
4.. Determinaticn *f
5. Suggestlon
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NARX, NARMAX,
FOPDT,
SOPDTandmanY more
What your will learn this semester?
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.P, PI and PID
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The popularity of PID controller among industry sector is due to its simplicity that
provide
caused this controller easily to understand by controt engineer and able to
satisfactory performance in wide range of practical situation.
Moreover, the plD controller combined allthree controller action which is proportional
D
action, p (present element), integral action, I {past element) and derivative action,
(future element). These combination caused PID has capability in providing zero steady
state error due to integral action and able to predict the future due to derivative action.
Proportionalterm (presentelement)
To speed up the closed loop response. The proportional term minimizes but does not
eliminate the steady state error or offset.
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. The performance
There are two method in tuning p, pl, and plD parameter either using open
lo*p methcd or *ls**d loop rn*thod.
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Two well known open loop tuning method are known as;
1)
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response
* - chang:-of outpyt
Change of inPut(B)
(A)
A=112-26=86
B=5-0=5
Process ga", K
=99*ofl '2
K x17.2
x250
Time delay, 0
Timeconstant,r=1800
Process Gain,
;q.jii:[i,:ll+i:]:::f.*,:saj:r.:!:gi:-:.,
of the system
I
model
-G(s)=ffi:X;
G(s)='!'J
1800 s+1
r(s) -!7-'?":'*"
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Proportional sain,
K,:#=
ffiffi
- 0.5a2326
5Ts: 059?]26
500s-
0'001005
,s
- 62.8s
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ln order to get better transient response such as, reduction in percentages overshoot or
faster the settling time, several method are suggested;
Retune PID parameter (try and error) based on calculated value
Adding anti-windup
Hybrid with other cortroller such as fuzzy, neural network for self tuning.
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