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PID Control filled

# PID Control filled - ME375 Handouts 1 School of Mechanical...

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Unformatted text preview: ME375 Handouts 1 School of Mechanical Engineering Purdue University ME375 PID Control - 1 PID Controller PID Controller • Controller Structure Controller Structure • Effects of Proportional, Integral and Derivative Effects of Proportional, Integral and Derivative Actions Actions • Design of PID Controllers Design of PID Controllers School of Mechanical Engineering Purdue University ME375 PID Control - 2 Proportional plus Integral plus Derivative (PID) Control Proportional plus Integral plus Derivative (PID) Control In time domain: In time domain: In s In s-domain: domain: PID Controller PID Controller ( ) ( ) ( ) ( ) , w h ere ( ) ( ) ( ) t P I D u t K e t K e t d K e t e t r t y t τ = ⋅ + ⋅ + ⋅ = − ∫ ¡ 2 1 2 ( ) 1 ( ) ( ) ( ) ( ) ( ) ( ) ( ) P I D C D P I D C C C C G s U s K K K s E s s N s K s K s K K s z s z G s K D s s s ⎛ ⎞ = + + ⎜ ⎟ ⎝ ⎠ + + + + ⇒ = = = ¢£££¤£££¥ 1 2 1 2 ( ) D C P C I C K K K K z z K K z z = ⎧ ⎪ = + ⎨ ⎪ = ⎩ Output Y (s) Disturbance D (s) Plant G P ( s ) Control Input U ( s ) G C ( s ) H ( s ) + − Reference Input R ( s ) Error E ( s ) + + Controller ME375 Handouts 2 School of Mechanical Engineering Purdue University ME375 PID Control - 3 Effect of PID Actions Effect of PID Actions • Derivative Action Derivative Action ( ( K D D s s ) Provides added damping effect to the closed Provides added damping effect to the closed-loop loop system; reduces overshoot and oscillation in step system; reduces overshoot and oscillation in step responses; tends to slow down the closed responses; tends to slow down the closed-loop loop system response. Dominant during initial system response. Dominant during initial transient, due to the effect of the differentiation....
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