Notes-7A

Notes-7A - 7. PID Controllers Ziegler and Nichols Tuning...

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7. PID Controllers Ziegler and Nichols Tuning Rules
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Example, P controller
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PI controller
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PID Controller
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Second Method
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Example: PID Controller 1. C(s) is a proportional controller C(s)=k p 2 12 () A Ps s as a = ++ 2 () () p Ak Ls CsPs s = = Position error constant increased: smaller steady state error Damping decreased: larger overshoot Natural frequency increased: shorter rise time The real part of the pole unchanged: no change to settling time 2 2 11 2 22 p p nn p n Ak K a aa a Ak σ ςω ω ς = = = = +=
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2. C(s) is a proportional plus integral controller C(s)=k p +k I /s 2 12 32 () () () pI Aks k Ls CsPs s s as a Ts s a s a Ak s Ak + = = ++ + = + + System type increased: smaller steady state error Two characteristic poly coefficients are changed.
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3. C(s) is a proportional plus derivative controller C(s)=k p +k D s 2 12 2 () () () ( )( ) pD Dp Ak k s Ls CsPs s as a Ts s a Ak s a Ak + = = ++ + = + + Position error constant unchanged: same steady state error Damping can be increased: smaller overshoot Real part of the pole can be increased: shorter settling time
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This note was uploaded on 02/03/2012 for the course EE 3530 taught by Professor Chen during the Fall '07 term at LSU.

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Notes-7A - 7. PID Controllers Ziegler and Nichols Tuning...

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