AUTOMOTIVE MECHANICAL ENGINEERING

TEACHER:

ENG. DIEGO VALLADOLID Msc.

SUBJECT:

CONTROL THEORY GROUP 3

THEME:

TEST CONTROL THEORY

MEMBERS:

MOROCHO EMILIO
PUPIALES MICHAEL
SALINAS DIEGO
SANCHEZ JAIRO
SANCHEZ JORGE
TULCAN ANDRES

PERIOD

2017-2018
 CONTROLTHEORY
A machine has the transfer function:

𝒆−𝟐𝒔
𝑮(𝒔) =
𝟑𝒔 + 𝟏

Where the input is stock flow on the wire and the output is basic weight or thickness
(paper machine).

a. The system becomes marginally stable for a proportional gain of 𝐾𝑢=3.031 as shown
by the unit step response in figure. Find the optimal PID controller parameters
according to the Zeigler-Nichols tuning rules. (First Method)

b. Find the PID controller parameters using the Cohen-Coon tuning rules. (Second
method)

c. For each case (a) and (b), plot the step response of the system and measure the
maximum overshoot, settling time and rise time.

d. Find the PID controller parameters using Matlab software (PID tuner) and compare
it with (a) and (b), what are your conclusions?

DEVELOPMENT

a. The system becomes marginally stable for a proportional gain of 𝐾𝑢=3.031 as shown
by the unit step response in figure. Find the optimal PID controller parameters
according to the Zeigler-Nichols tuning rules. (First Method)

L= 2
T=3
Ku= 3.031

2𝜋
𝑃𝑐𝑟 =
𝑤

𝑠 = 𝑗𝑤
 3𝑠 + 1 = 0

−3𝑤 + 1 = 0

𝟏
𝒘=
𝟑

𝐾𝑝 = 0.6𝐾𝑐𝑟 = 0.6(3.031) = 1.82

1
𝑇𝑖 = 0.5 𝑃𝑐𝑟 = 0.5 ( ) = 0.166
3
1
𝑇𝑑 = 0.125𝑃𝑐𝑟 = 0.125 ( ) = 0.0416
3
𝟏
𝑮𝒄(𝒔) = 𝟏. 𝟖𝟐 (𝟏 + + 𝟎. 𝟎𝟒𝟏𝟔𝒔)
𝟎. 𝟏𝟔𝟔𝒔

b. Find the PID controller parameters using the Cohen-Coon tuning rules. (Second
method)

L=2
T=3
K=3.031
𝑪(𝒔) 𝑲𝒆−𝟏𝒔
=
𝑼(𝒔) 𝑻𝒔 + 𝟏

𝐶(𝑠) 3.031𝑒−1𝑠
=
𝑈(𝑠) 3𝑠 + 1

1
𝐺𝑐(𝑠) = 𝐾𝑝(1 + + 𝑇𝑑 𝑠)
𝑇𝑖 𝑠

𝑻 𝟑
𝑲𝒑 = 𝟏. 𝟐 = 𝟏. 𝟐 = 𝟏. 𝟖
𝑳 𝟐

𝑇𝑙 = 2𝐿 = 2(2) = 4

𝑇𝑑 = 0.5𝐿 = 0.5(2) = 1

1
𝐺𝑐(𝑠) = 1.8(1 + + 𝑠)
4𝑠
 1.8
𝐺𝑐(𝑠) = (1.8 + + 1.8𝑠)
4𝑠

1
(𝑠 + )2
𝐺𝑐(𝑠) = 0.6𝑇( 𝐿 )
𝑠

1 2
9 (𝑠 + 2)
𝐺𝑐(𝑠) = ( )
5 𝑠

Polo in origin and zero in:

−𝟏
𝑺=
𝑳

−𝟏 𝟏
𝑺= =−
𝑳 𝟐

c. For each case (a) and (b), plot the step response of the system and measure the
maximum overshoot, settling time and rise time.

The code in MATLAB is the following:

clear all
clc
s=tf(['s']);
G=(exp(-2*s)/(3*s+1));
H=[ 1 ];
M=feedback(G,H);
step (M)
hold on
Kp=1.8;
Ki=4;
Kd=1;
Ge=pid(Kp, Ki, Kd);
Mc = feedback(Ge*G, H);
step(Mc)
xlabel ('Time')
grid on

And your respective graph is:

d. Find the PID controller parameters using Matlab software (PID tuner) and compare
it with (a) and (b), what are your conclusions?

CONCLUSIONS

The calculated data do not approximate the results obtained by the Matlab software, this
is because the software takes into account all the values at the time of calculations.

The genetic algorithm is able to quickly find the optimal values of the PID constants,
which allow the process to adjust to the desired value despite the disturbances that exist
at any given time.

The adaptive PID algorithm eliminates the need for the continuous attention of an
experienced operator, since it constantly verifies the machine, and when the error (with
respect to a desired value) exceeds a tolerance, then it recalculates the PID constants that
conform to the current conditions of the system.