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Chapter 6
Chapter 6
Classical PID Control
Classical PID Control
+
Plant
1 +
1
T
r
s
C
PD
(s) = K
p
1 +
T
d
s
D
s + 1
C
PID
(s) = K
p
1 +
1
T
r
s
+
T
d
s
D
s + 1
Proportional only:
Proportional plus Integral:
Proportional plus derivative:
Proportional, integral and
derivative:
1 +
I
s
s
1 +
D
s
s
s
D
s
s + 1
p
D
p
s + 1
s
e K
s G
s
.
0
= x
= x
0 1 2 3 4 5 6 7 8 9 10
0
0.5
1
1.5
Time [t/]
P
l
a
n
t
r
e
s
p
o
n
s
e
ZieglerNichols (oscillation method) for different values of the ratio x= /
o
x=0.1
x=0.5
x=2.0
y
o
u
u
o
;
o
= t
1
t
o
;
o
= t
2
t
1
y
o
t
o
t
1
t
2
m.s.t.
o
PI
0.9
o
K
o
o
3
o
PID
1.2
o
K
o
o
2
o
0.5
o
.
0
= x
1 +
o
3
o
PI
o
K
o
0.9 +
o
12
o
o
[30
o
+ 3
o
]
9
o
+ 20
o
PID
o
K
o
4
3
+
o
4
o
o
[32
o
+ 6
o
]
13
o
+ 8
o
4
o
o
11
o
+ 2
o
Table 6.3: Cohen-Coon tuning using the reaction curve.
.
0
= x
2
s + 1
4
20[dB]
|C|
dB
C(j)
1
2
10
2
1
1
1
10
1
4
20[dB]
|C|
dB
C(j)
1
2
1
10
2
1
1
10
Y
1
(s)
Y
2
(s)
G
11
(s) G
12
(s)
G
21
(s) G
22
(s)
U
1
(s)
U
2
(s)
G
11
(s) =
0.66e
2.6s
6.7s + 1
G
12
(s) =
0.0049e
s
9.06s + 1
G
21
(s) =
34.7e
9.2s
8.15s + 1
G
22
(s) =
0.87(11.6s + 1)e
s
(3.89s + 1)(18.8s + 1)
(
(
+
(
+ =
+
16
1
1
1
(2) With derivative action in the error
bias e K u
s
s T
s T
c
d
T
d
i
+
(
(
+
(
+ =
+
16
1
1
1
+ =
+
16
1
(4) Similar to (2) but with different gains
bias e K u
p
K
s
d
K
d i
s K
s
K
p
+
+ + =
+
16
1
+ + +
+ =
t t t c t c t t c
t t
e e e D e I e e P
u u
1
2
2
2
2 1
2
dt
e d t t t
e e e
+ = e s D
e I
se P su
c
c
c
2
100
1
=
1 t t
e e
e
dt
de
+ + =
2 1 1 1
2
t t t
d
t
i
t t p s t t
e e e
T
e
T
e e K K u u
( ) ( )
+ + =
2 1 1 1
2
t t t
d
t
i
t t p s t t
y y y
T
e
T
e e K K u u
( ) ( )
+ + =
2 1 1 1
2
t t t
d
t
i
t t p s t t
y y y
T
e
T
y y K K u u