Transcription of Module 08 Controller Designs: Compensators and PIDs
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Module 08 Controller Designs: Compensators and PIDs
Design via Root-Locus IntroLead CompensatorPID Controllers DesignModule 08 Controller Designs: Compensators and PIDsAhmad F. TahaEE 3413: Analysis and Desgin of Control tahaMarch 31, 2016 Ahmad F. TahaModule 08 Controller Designs: Compensators and PIDs1 / 34 Design via Root-Locus IntroLead CompensatorPID Controllers DesignIntroductionReadings: , Ogata; , , Dorf & BishopIn Module 7, we learned to sketch the RL for any TFWe saw how poles change as a function of the gainK K was a Controller a constant controllerMany times,Kas a Controller is not enoughExample: system cannot be stabilized with a choice ofK-gainOr, settling time is still high, overshoot still badToday, we ll learn how to design more complicated controllersObjective:findGc(s) such that CLTF has desired properties suchas settling time, maximum overshoot.
Design via Root-Locus—Intro Lead Compensator PID Controllers Design PID Controller PID (Proportional-Integral-Derivative) controller takes this form: G c(s) = K p 1 + 1 T is + T ds Design objective: find parameters K p,T i,T d given required specs This process is called PID tuning—process of adjusting K p,T i,T d Many different tuning ...
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