PID_control

PID_control - 1 LAB 8 LAB 8 PID Control PID Control Rajesh...

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Unformatted text preview: 1 LAB 8 LAB 8 PID Control PID Control Rajesh Rajamani ME 4231 Department of Mechanical Engineering University Of Minnesota REVISITING P-CONTROL Closed-loop transfer function is m m p m m m p des T K K s T s T K K s Y s Y 1 ) ( ) ( 2 For good damping m m p T K K 4 1 1 P C y e u des y 2 REVISITING P-CONTROL For good bandwidth p m m p K T K K n needs to be large 10-1 10 10 1 10 2 10 10 1 10 2 10 3 10 4 10 5 k=16000 k=100,000 k=5,000,000 PD CONTROL P C y e u des y m p d m m d m m p des K K s K K s s T s K K K K PC PC s Y s Y 2 1 ) ( ) ( ) 1 ( s T s K P m m s K K C d p e K e K u d p 3 PD CONTROL Draw Bode plot on blackboard m p d m m d m m p des K K s K K s s T s K K K K PC PC s Y s Y 2 1 ) ( ) ( m m p d m m p d m m p T K K s K K T s s K K T K K ) 1 ( 1 1 2 PD CONTROL Independent control of and . Damping ratio Bandwidth High bandwidth and good damping The derivative feedback (D-term) provides more damping, better stability and more speed of response. n ) 1 ( 1 2 d m m n K K T m p m n T K K 4 IMPLEMENTING PD CONTROL { error = ref_position - encoder; error_derivative = (error - previous_error)/Ts; previous_error = error; control_voltage = Kp*error + Kd* error_derivative ; } PID CONTROL Proportional-integral-derivative feedback e K e K e K u d i p dt P C y e u des y ) 1 ( s T s K P m m s K s K K C d i p 1 5...
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This note was uploaded on 02/07/2012 for the course ME 4231 taught by Professor Staff during the Fall '08 term at Minnesota.

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PID_control - 1 LAB 8 LAB 8 PID Control PID Control Rajesh...

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