ece580 lecture 10

ece580 lecture 10 - Oct. 6, 2011 Feedback Control Systems...

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Unformatted text preview: Oct. 6, 2011 Feedback Control Systems (I) Douglas Looze 1 Lecture 10 ECE 580 Feedback Control Systems (I) MIE 444 Automatic Controls Doug Looze Oct. 6, 2011 Feedback Control Systems (I) Douglas Looze 2 Announce PS 4 available Due Oct. 13 No class Tuesday, Oct 11 Monday schedule Office hours 35 PM Oct. 6, 2011 Feedback Control Systems (I) Douglas Looze 3 Last Lecture Tuning of PID Controllers Open loop Objective: disturbance rejection Damping ratio = 0.21 Oct. 6, 2011 Feedback Control Systems (I) Douglas Looze 4 5 10 15 20 25 30 35 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 Step Response Time (sec) Amplitude A L slope A R = Inflection point Oct. 6, 2011 Feedback Control Systems (I) Douglas Looze 5 Set PID parameters based on process response characterization Type of Controller kp TI TD P PI PID 1 RL 0.9 RL 1.2 RL 0.3 L 2 L 0.5 L May 2, 2005 Feedback Control Systems (II) Douglas Looze 6 Closed loop tuning- r u y e u K ( 29 G s Increase Ku until system has sustained oscillation Measure period of oscillation Time (s) Response u P 2 u u P = May 2, 2005 Feedback Control Systems (II) Douglas Looze 7 Set PID parameters based on process response characterization Type of Controller kp TI TD P PI PID 0.5 u K 0.45 u K 0.6 u K 1.2 u P 2 u P 8 u P May 2, 2005 Feedback Control Systems (II) Douglas Looze 8 Heat exchanger example Closed loop 150 200 250 300 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 Time (s) Response 43.5 u P = 15.3 u K = May 2, 2005 Feedback Control Systems (II) Douglas Looze 9 P compensation 0.5 p u k K = 15.3 2 = 7.65 p k = PI compensation 0.45 p u k K = ( 29 0.45 15.3 = 6.89 p k = 1.2 u I P T = 43.5 1.2 = 36.3 I T = May 2, 2005 Feedback Control Systems (II) Douglas Looze 10 50 100 150 200 250 300 350 400 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 Time (s) Response P PI Oct. 15, 2009 Feedback Control Systems (I) Douglas Looze 11 Root locus Concept Root locus equation Oct. 6, 2011 Feedback Control Systems (I) Douglas Looze 12 Today Root locus Rules for construction Example Use for PID parameter selection Reading FPE 5.25.3 Oct. 6, 2011 Feedback Control Systems (I) Douglas Looze 13 Construction of the Root Locus Rules for construction Insights into effect of nearby poles/zeros Insights into effects of distant poles/zeros See FPE 5 for detailed rule derivations Computer construction Matlab command: rlocus(sys) Nov. 1, 2007 Feedback Control Systems (I) Douglas Looze 14 When is a point in the complex plane on the root locus? s C ( 29 1 K L s = + ( 29 1 L s K = - ( 29 L s Poles are roots of loop transfer function on locus must be real, negative K Nov. 1, 2007 Feedback Control Systems (I) Douglas Looze 15 Angle condition to be on root locus ( 29 180 L s = R ( 29 360 1 l + - g where l is an integer ( 29 ( 29 ( 29 180 360 1 b s l a s = + - R g ( 29 ( 29 ( 29...
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ece580 lecture 10 - Oct. 6, 2011 Feedback Control Systems...

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