2016-5-121第3章控制器及其特性要点.ppt

The behavior of the proportional action: Kp Matlab code: G=tf(1,[1,3,3,1]); for Kp=[0.1:0.1:1], H=feedback(Kp*G,1); step(H), hold on; end Consider a third-order plant model given by Kp=1 Kp=0.1 Set Kp from 0.1 to 1,Ti=infinite,Td=0 Note: when Kp increases, the response speed of the system increases, the overshoot of the closed-loop system increases, and the steady-state error decreases. However, when Kp is large enough, the closed-loop system becomes unstable. * The behavior of the integral action: Ti Matlab code: G=tf(1,[1,3,3,1]); Kp=1; s=tf(s); for Ti=[0.7:0.1:1.5] Gc=Kp*(1+1/Ti/s); G_c=feedback(G*Gc,1); step(G_c), hold on end axis([0 20 0 2]) Note: The most important feature of a PI controller is that there is no steady-state error in the step response if the closed-loop system is stable. when Ti increases,the overshoot tends to be smaller, but the speed of response tends to be slower. Ti=0.7 Ti=1.5 * The behavior of the derivative action:Td Td=1.5 Td=0.1 Kp=Ti=1 Note: Clearly, when Td increases the response has a smaller overshoot with a slightly slower rise time but similar settling time. Matlab code: G=tf(1,[1,3,3,1]); Kp=1; Ti=1; s=tf(s); for Td=[0.1:0.2:2] Gc=Kp*(1+1/Ti/s+Td*s); step(feedback(G*Gc,1)); hold on end axis([0 20 0 2]) * Example 4.14 Simulate the following second order plus time delay process controlled by the P controller. And, confirm that the offset converges to the expected value. for for for for Solution So, the final value of the process output is and the offset is . * * * Example 4.15 Simulate the following second order plus time delay process controlled by the PID controller. And, confirm that the integral part of the PID controller converges to the expected value. for for