Lec 10-18 (1).ppt - Continuing Chapter 7 PID Control Characteristics Forms and Modes Reading Assignment The entire Chapter 7(pp 241-273 The usual choice

Lec 10-18 (1).ppt - Continuing Chapter 7 PID Control...

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Continuing Chapter 7 : PID Control: Characteristics, Forms and Modes Reading Assignment : The entire Chapter 7: (pp. 241-273)
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The usual choice of controller : PID (3-mode controller) : 0 , 0 I D where 0 0 1 ( ) ( ) ( ) ( ) t c D I de t c t c K e t e t dt dt P-only : PI : Special cases : 0 ( ) ( ) c c t c K e t 0 0 1 ( ) ( ) ( ) t c I c t c K e t e t dt
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WARNING : Derivative action can be problematic 1) in the presence of abrupt changes in e(t) , e.g. in step changes of the set point … 2) in the presence of noise in the output measurement signal
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What happens in abrupt changes of e(t)? D: Note that (Dirac delta function). In reality, will not see a Dirac delta function, but controller output will be very large! This is called the “ derivative kick
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Correction for Derivative Kick Derivative kick occurs when a step change in set point is applied. This causes a spike in the derivative of the error. Derivative kick can be eliminated by applying derivative action on the measurement instead of the error: ( PI-D controller ) 0 0 ( ) 1 ( ) ( ) ( ) t c D I s dy t c t c K e t e t dt dt 0 0 1 ( ) ( ) ( ) ( ) t c D I de t c t
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