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EEE402 Exp06

The document describes designing a PID controller for a unity feedback system using root locus analysis and the SISO design tool. It involves: 1) Analyzing the uncompensated system and determining it has a 20.7% overshoot and 0.7 seconds peak time. 2) Adding a PD compensator to meet design criteria of 20% overshoot and 2/3 reduced peak time, determining dominant closed loop poles are -8.1±j15.8. 3) Adding an additional pole and zero to the PID compensator to meet the steady state error criterion, with dominant closed loop poles at -8.08.

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Maksud Sarker
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52 views3 pages

EEE402 Exp06

The document describes designing a PID controller for a unity feedback system using root locus analysis and the SISO design tool. It involves: 1) Analyzing the uncompensated system and determining it has a 20.7% overshoot and 0.7 seconds peak time. 2) Adding a PD compensator to meet design criteria of 20% overshoot and 2/3 reduced peak time, determining dominant closed loop poles are -8.1±j15.8. 3) Adding an additional pole and zero to the PID compensator to meet the steady state error criterion, with dominant closed loop poles at -8.08.

Uploaded by

Maksud Sarker
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as ODT, PDF, TXT or read online on Scribd
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1

UNITED INTERNATIONAL UNIVERSITY (UIU)

COURSE NO. EEE 402 (CONTROL SYSTEM LABORATORY)

EXPT. NO. 6

DESIGN A PID CONTROLLER USING ROOT LOCUS METHOD AND SISO DESIGN TOOL

Design Requirement:
Given that a unity feedback system is working at 20% overshoot with the transfer function:
K (s +8 )
G(s )= 3 and H(s) = 1, design a PID controller to meet the following criteria:
s +19 s 2 +108 s +180
i) Compensated peak time = ⅔ of uncompensated peak time
ii) % OS = 20% and
iii) Steady-state error = 0

Procedure:
Uncompensated condition
1. Using SISO Design tool, create the design for a unity negative feedback system with
G(s) = K(s + 8) /( s + 3)(s + 6) (s + 10) and plot the root locus.
2. From Edit| SISO Tool Preferences window, select Options tab, select Zero/pole/gain
radio button under Compensator Format and click Ok.
3. Right click on the SISO Design Tool window and then click on Grid.
4. Right click on the SISO Design Tool window and then click on Design Constraints|
New from the appeared window. Select Constraint Type as Percent Overshoot, set
Percent Overshoot as 20 and click Ok.
5. Drag the closed-loop pole at the intersection of overshoot line and the root locus.
Write down the value obtained in the C(s) text box. Also, write down the closed-loop
poles and damping ratio obtained from View| Closed Loop Poles.
6. Select Analysis| Response to Step Command. Write down the values of percent
overshoot, peak time and settling time.
7. Find the static error constant Kp and steady state error using transfer function G(s).
8. Fill up all the data in the first column of Table-1.
PD Compensated condition
9. Calculate the imaginary part, d and real part, d of the compensated dominant pole
from the two-third value of uncompensated peak time obtained in Step 6.
10. Find the sum of angles,  from the uncompensated system’s poles and zeros to the
desired dominant pole calculated in Step 7. Then, calculate the location of
compensator zero, zc using the formula  d /(zc   d ) = tan (1800   )
11. Set the value of the calculated compensated real zero to the root locus using the
window appeared after selecting Compensators| Edit| C, the value of which is
obtained in Step 10.

This sheet for Control System Laboratory has been prepared by:
Md. Iqbal Bahar Chowdhury, Assistant Professor, EEE, UIU.
2
12. Drag the closed-loop pole at the intersection of overshoot line and the root locus. Fill
up all the data in the second column of Table-1.

PID Compensated condition


13. Repeat Step 6 and discuss your findings. This is the end of PD compensation.
14. Set another real zero at –0.5 and a pole at 0 using the window appeared after
selecting Compensators| Edit| C.
15. Drag the closed-loop pole at the intersection of overshoot line and the root locus. Fill
up all the data in the third column of Table-1.
16. Discuss your findings. This is the end of PID compensation.
Physical realization of PID
17. Note the value of K in the C(s) text box. Then using the values of compensated zeros,
poles and this gain, calculate the values of K 1, K2 and K3. Use following formula:
2
K ( s + z c )( s+0 . 5) K 3 s + K 1 s + K 2 K2
G PID = = =K 1 + + K 3 s
s s s
18. Physically realize the PID controller using the following formula

GPID =KG C =
K ( s+ z c )( s +0 . 5)
s ( R C
(
R1 C1
R C
)
=K R 2 C1 s+ 2 + 2 + 1 2
s )

(a) (b) (c)

Figure: (a) Circuit for PID, (b) Z1, (c) Z2

This sheet for Control System Laboratory has been prepared by:
Md. Iqbal Bahar Chowdhury, Assistant Professor, EEE, UIU.
3
Table-1
Uncompensated PD-compensated PID-compensated

Plant and 121.5(s+8)/(….) 5.283(s+8)(s+56.1)/(…..)


Compensator
Dominant -5.42+-j10.6 -8.1+-j15.8
Poles
121.5 5.283
K

0.456 0.456

11.9 17.8
n

20.7 21.7
% OS

0.7 0.451 2.24


Ts

0.298 0.176
Tp

5.4 13.17
Kp

0.156 0.071
e()

-8.17 -8.08
Other poles

-8(Gp er zero) -8, -56.1


Zeroes

This sheet for Control System Laboratory has been prepared by:
Md. Iqbal Bahar Chowdhury, Assistant Professor, EEE, UIU.

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