PD, PI, PID Compensation — University of Nevada, Reno PI，PD，PID补偿—内华达大学里诺校区.pptVIP

* PID (proportional-plus-integral-plus-derivative) Control Improves both transient steady-state response. Kp , Ki , Kd = proportional, integral, derivative gain, resp. Controller zeros: real or complex conjugate. * PID Design Procedures Cancel real or complex conjugate LHP poles. Cancel pole closest to (not on) the imaginary axis then add a PD controller by applying Procedures 5.1 or 5.2 to the reduced transfer function with an added pole at the origin. Follow Procedure 5.3 with the proportional control design step modified to PD design. The PD design meets the transient response specifications and PI control is then added to improve the steady-state response. * Example 5.7 Design a PID controller for the transfer function to obtain zero e(?) due to ramp, ? = 0.7 and ?n = 4 rad/s. * Design I Cancel pole at ?1 with a zero add an integrator Same as transfer function of Example 5.6 Add PD control of 5.6 PID controller * Design II Design PD control to meet transient response specs. Select ?n = 5 rad/s (anticipating effect of adding PI control). Design PD controller using MATLAB commands ? [k,a,scl] = pdcon(0.7, 5, tf(1, [1,11,10,0]) ) k = 43.0000 a = 2.3256 scl = -3.5000 + 3.5707i ? b =5 /(0.7 + sqrt(1-.49)/tan(3*pi/ 180) ) % Obtain PI zero. b = 0.3490 Transfer function for Design II (reduce gain to 40 to correct for PI) * Conclusions Compare step responses for Designs I and II: Design I is superior because the zeros in Design II result in excessive overshoot. Plant transfer function favors pole cancellation in this case because the remaining real axis pole is far in the LHP. If the remaining pole is at ?3, say, the second design procedure would give better results. MORAL: No easy solutions in design, only recipes to experiment with until satisfactory results are obtained. * Time response for Design I(dotted) and Design II (solid) * Example 5.8 Design a PID controller for the transfer function to obtain zero e(?) due to step, ? = 0.7 and ?n ? 4