lecture9

lecture9 - MAE 171A: Dynamic Systems Control Lecture 9: PID...

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Unformatted text preview: MAE 171A: Dynamic Systems Control Lecture 9: PID Controller Goele Pipeleers PID Control Feedback Control control configuration D ( s ) G ( s ) u y w r v e m PID controller: D ( s ) = k p + k i s + k d s u ( t ) = k p e m ( t ) + k i Z t e m ( ) d + k d e m ( t ) 1 PID controller: D ( s ) = k p + k i s + k d s k p : p roportional gain faster response k i : i ntegral gain better steady-state response k d : d erivative gain faster convergence fast response, but slow convergence slow response, but fast convergence y t 1 2 to explain the idea, lets consider set point regulation: keep y ( t ) in response to w ( t ) for a mechanical system: G ( s ) , Y ( s ) W ( s ) + U ( s ) = 1 ms 2 + cs + k y u c k m w and various controllers D ( s ) D ( s ) G ( s ) u y w 3 P Control D ( s ) = k p y > u < y < u > H ( s ) , Y ( s ) W ( s ) = G ( s ) 1 + G ( s ) D ( s ) = 1 ms 2 + cs + k + k p hence, P-control has the effect of increasing stiffness y u m w c k + k p 4...
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This note was uploaded on 08/08/2011 for the course MAE 171 taught by Professor Pipeleers during the Summer '11 term at UCLA.

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lecture9 - MAE 171A: Dynamic Systems Control Lecture 9: PID...

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