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Control Lab2 PDF

The document discusses proportional-integral (PI) controllers. It explains that a PI controller output is equal to the proportional error plus the integral of error over time. Mathematically, this is written as the output equaling the proportional constant multiplied by error plus the integral constant multiplied by the integral of error. The document also shows Simulink diagrams of PI controllers and how adjusting the proportional and integral constants affects the output.

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Abdallah Daldoom
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58 views

Control Lab2 PDF

The document discusses proportional-integral (PI) controllers. It explains that a PI controller output is equal to the proportional error plus the integral of error over time. Mathematically, this is written as the output equaling the proportional constant multiplied by error plus the integral constant multiplied by the integral of error. The document also shows Simulink diagrams of PI controllers and how adjusting the proportional and integral constants affects the output.

Uploaded by

Abdallah Daldoom
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Control Lab

Subject: Experiment #4 Integral and Proportional


Controller (PI-controller).
Done by: Abdallah Husain Sulieman Daldoom.
31502020130.
Eng. Saleem Ghanayem.
Introduction:

We understand the P-controller previously, now the


Integral controller or (I-controller), this type of controller
is directly proportional to the integral of the error signal.

Mathematically:

As we know in an integral controller output is


directly proportional to the integration of the error
signal, writing this mathematically we have:
𝑡
𝐴𝑡 𝛼 ∫ 𝑒(𝑡)𝑑𝑡
0
𝑡
𝐴𝑡 = 𝐾𝑖 ∫ 𝑒(𝑡)𝑑𝑡
0
Where Ki is an integral constant also known as
controller gain. The integral controller is also known
as reset controller.
PI-Controller:
A P.I Controller is a feedback control loop that calculates an error
signal by taking the difference between the output of a system.

As the name suggests it is a combination of proportional and an


integral controller the output (also called the actuating signal) is
equal to the summation of proportional and integral of the error
signal. Now let us analyze proportional and integral controller
mathematically. As we know in a proportional and integral
controller output is directly proportional to the summation of
proportional of error and integration of the error signal, writing
this mathematically we have, this can be mathematically
expressed as:

𝑡
𝐴𝑡 𝛼 ∫ 𝑒(𝑡 )𝑑𝑡 + 𝐴(𝑡 ) 𝛼 𝑒(𝑡)
0
𝑡
𝐴𝑡 = 𝐾𝑖 ∫ 𝑒(𝑡 )𝑑𝑡 + 𝐾𝑏 𝑒(𝑡)
0

Where, Ki and Kb proportional constant and integral constant


respectively.
Simulink:
Circuit diagram for PI=controller.

When Ki=0, the system only have a P-controller.

At Ki=1, and Kb=5.

Steady state error is less.


If Kb=0, then no output signal will go out, and error
will be at maximum value.

We can add a PID


controller from
Simulink library, double
click at it will show:
Which is a formal
controller being ready
and can be used as any
controller just by change
the values.
If we add the PID to the system:

The output signals are not identical this is due to


transfer function are different from what is in PID, It
can be solved by add transfer function and negative
feedback, as shown:

Here the two-output signal are identical.


If we change any thing from Ki or Kb or transfer
function (Planet) the outputs will not be identical, to
solve this we must change all from the above circuit
to PID circuit.

If we change the transfer function to [1 2 0], then:


Conclusion:

1) The I-controllers is integration controller that


does not work alone, because that no output will
exist.
2) If Ki for integration controller is zero then the
system will neglect the I-controller like it does
not exist, only P-controller will work.
3) PI-controller can make the steady state error
equal zero.
4) There is a tool called PID controller in Simulink
library of MATLAB, which is helpful for
shortcut the circuit diagram for circuit diagram
to P and I controllers, just by give the value of
proportional and integral and derivative equal
zero.

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