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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 sdomain: 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 = + + = 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 closedloop 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 closedloop loop system response. Dominant during initial system response. Dominant during initial transient, due to the effect of the differentiation....
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 Spring '10
 Meckle
 Mechanical Engineering

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