0% found this document useful (0 votes)
62 views11 pages

Name: Alie Eldeen Ahmed Ali Section:1: Helwan University Faculty of Engineering Mechanical Department

The document discusses tuning PID controllers for a DC motor system using CHR's method. It: 1) Estimates the open loop time delay, time constant, and gain. 2) Calculates controller gains for P, PI, and PID controllers aimed at 0% overshoot but finds overshoot occurs anyway. 3) Repeats for 20% overshoot target and finds gains that achieve less than 20% overshoot. 4) Concludes CHR's method cannot guarantee zero overshoot and settling time may be high, so MATLAB tuning could improve the response.

Uploaded by

AlieEldeen
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
0% found this document useful (0 votes)
62 views11 pages

Name: Alie Eldeen Ahmed Ali Section:1: Helwan University Faculty of Engineering Mechanical Department

The document discusses tuning PID controllers for a DC motor system using CHR's method. It: 1) Estimates the open loop time delay, time constant, and gain. 2) Calculates controller gains for P, PI, and PID controllers aimed at 0% overshoot but finds overshoot occurs anyway. 3) Repeats for 20% overshoot target and finds gains that achieve less than 20% overshoot. 4) Concludes CHR's method cannot guarantee zero overshoot and settling time may be high, so MATLAB tuning could improve the response.

Uploaded by

AlieEldeen
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
You are on page 1/ 11

Helwan University

Faculty of Engineering

Mechanical Department

Name: Alie Eldeen Ahmed Ali

Section:1
Problem

For the following open loop control system (DC motor):

Requirements
a)Determine the open loop response and approximated time delay , time constant and system DC
gain.

b) Determine the controller gains for P controller and then determine the step response for 0%
overshoot.

c) Determine the controller gains for PI controller and then determine the step response for 0%
overshoot.

d) Determine the controller gains for PID controller and then determine the step response for 0%
overshoot.

e) Determine the controller gains for P controller and then determine the step response for 20%
overshoot.

f) Determine the controller gains for PI controller and then determine the step response for 20%
overshoot

g) Determine the controller gains for PID controller and then determine the step response for 20%
overshoot.
a)

 The approximate time delay: 0.46


 The approximate time constant: 4.14
 System dc gain: 0.5
𝐾∗𝐿 0.5∗0.46 1
B) 𝑎 = = = = 0.0556
𝑇 4.14 18

 Controller type: P
 Overshoot: 0%
0.3
Kp= = 5.4
0.0556

Kp = 5.4

Comment: There is overshoot although we made calculation to be with


no overshoot according to CHR’s method
𝐾∗𝐿 0.5∗0.46 1
c) 𝑎 = = = = 0.0556
𝑇 4.14 18

 Controller type: PI
 Overshoot: 0%

0.35
Kp= = 6.3 Ti = 1.2T= 1.2*4.14=4.968
0.0556
𝐾𝑝 6.3
Ti= = = 4.968 Ki=1.3
𝐾𝑖 𝐾𝑖

Kp=6.3 Ki=1.3

Comment: There is overshoot although we made calculation to be with


no overshoot according to CHR’s method
𝐾∗𝐿 0.5∗0.46 1
d) 𝑎 = = = = 0.0556
𝑇 4.14 18

 Controller type: PID


 Overshoot: 0%
0.6 𝐾𝑝 10.8
Kp= = 10.8 Ti=T=4.14= = Ki=2.6
0.0556 𝐾𝑖 𝐾𝑖
𝐾𝑑 𝐾𝑑
Td=0.5L=0.5*0.46=0.23 Td= = Kd=2.484
𝐾𝑝 10.8

Kp=10.8 Ki=2.3 Kd=2.484

Comment: There is overshoot although we made calculation to be with


no overshoot according to CHR’s method
𝐾∗𝐿 0.5∗0.46 1
e) 𝑎 = = = = 0.0556
𝑇 4.14 18

 Controller type: P
 Overshoot: 20%

0.7 0.7
Kp= = = 12.6
𝑎 0.0556

Kp=12.6

Comment: The overshoot here is acceptable is less than 20% so it will


perfect for system that accept 20% overshoot
𝐾∗𝐿 0.5∗0.46 1
f) 𝑎 = = = = 0.0556
𝑇 4.14 18

Controller type: PI
Overshoot: 20%

0.6
Kp= = 10.8
0.0556
𝐾𝑝 10.8
T=4.14 T= = 𝐾𝑖 = 2.6
𝐾𝑖 𝑘𝑖

Kp=10.8 Ki=2.6

Comment: There is overshoot which is higher than 20% although we


made calculation to be with 20% overshoot according to CHR’s method
𝐾∗𝐿 0.5∗0.46 1
g) 𝑎 = = = = 0.0556
𝑇 4.14 18

 Controller type: PID


 Overshoot: 20%

0.95 𝐾𝑝 17.1
Kp= = 17.1 Ti=1.4T=1.4*4.14= = Ki=2.95
0.0556 𝐾𝑖 𝐾𝑖
𝐾𝑑 𝐾𝑑
Td=0.47L=0.47*0.46=0.2162 Td= = Kd=3.69702
𝐾𝑝 17.1

Kp=17.1 Ki=2.95 Kp=3.69702

Comment: The overshoot here is acceptable is less than 20% so it will


perfect for system that accept 20% overshoot
The limitation of CHR’s method for tuning PID according to last example:

 We can’t make zero overshoot by using this method


 Maybe the settling time is high

We can make system response better by using Matlab tuning by taking the
parameter that we calculate from CHR’s method
Zero overshoot

20% overshoot

You might also like