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Tutorial10 Solution

The document discusses control techniques for determining the critical gain (Kcr) and critical period (Tcr) of a system using root locus analysis and simulations with increasing proportional gain (Kp). Kcr is found to be approximately 4243.5 and Tcr is found to be approximately 15ms. Various controller designs are then explored using proportional, PI, PD, and PID controllers with gains based on fractions of Kcr and Tcr to achieve different performance objectives like minimizing overshoot.

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Idhichote Ben
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29 views24 pages

Tutorial10 Solution

The document discusses control techniques for determining the critical gain (Kcr) and critical period (Tcr) of a system using root locus analysis and simulations with increasing proportional gain (Kp). Kcr is found to be approximately 4243.5 and Tcr is found to be approximately 15ms. Various controller designs are then explored using proportional, PI, PD, and PID controllers with gains based on fractions of Kcr and Tcr to achieve different performance objectives like minimizing overshoot.

Uploaded by

Idhichote Ben
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Taskliplat uning

9 Kp Ker 4243.5
Tar 15ms

b Root locus method


C P controller 0.5 Kar 212175
Kp
d
PD Kp 0.8 Kara 3395
0.725 Tak 0.0019s
Td
Kd Kp Td 76.365
0.45 Hire 1910
Pl Kp
T 0.8 Ter 0.072s

K If I 159131
PID Kp 0.6 Kar 2546

T 0.5 Tar 0.0075s

To 0.725 Tcr 70.0079

Ki 339467
K 4.837

e no overshoot

Kp 0.2 Kir 848.7

Ki 773760
.
4243
Kd
Finding 𝒌𝒄𝒓

𝐾𝑝 = 1

Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 5
Finding 𝒌𝒄𝒓

𝐾𝑝 = 10

Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 6
Finding 𝒌𝒄𝒓

𝐾𝑝 = 1000

Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 7
Finding 𝒌𝒄𝒓

𝐾𝑝 = 1000

Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 8
Finding 𝒌𝒄𝒓

𝐾𝑝 = 10000

Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 9
Finding 𝒌𝒄𝒓

𝐾𝑝 = 4250

Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 10
Finding 𝒌𝒄𝒓

𝐾𝑝 = 4200

Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 11
Finding 𝒌𝒄𝒓

𝐾𝑝 = 4243.5

Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 12
Critical gain 𝑲𝒄𝒓 and critical period 𝑻𝒄𝒓

𝐾𝑐𝑟 ≈ 4243.5

𝑇𝑐𝑟 ≈ 15 𝑚𝑠

Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 13
More elegant: Root locus plot

Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 14
More elegant: Root locus plot

𝐾𝑐𝑟 ≈ 4230

𝑇𝑐𝑟 = 2𝜋/𝜔𝑐𝑟
𝑇𝑐𝑟 ≈ 15 𝑚𝑠

Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 15
P controller

𝐾𝑝 = 0.5𝐾𝑐𝑟

Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 17
PD controller

𝐾𝑝 = 0.8𝐾𝑐𝑟

𝑇𝑑 = 0.125𝑇𝑐𝑟

Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 18
PI controller

𝐾𝑝 = 0.45𝐾𝑐𝑟

𝑇𝑖 = 0.8𝑇𝑐𝑟

Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 19
PID controller

𝐾𝑝 = 0.6𝐾𝑐𝑟

𝑇𝑖 = 0.5𝑇𝑐𝑟

𝑇𝑑 = 0.125𝑇𝑐𝑟

Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 21
PID controller with „less overshoot“

ത 𝑐𝑟
𝐾𝑝 = 0.33𝐾

𝑇𝑖 = 0.5𝑇𝑐𝑟

𝑇𝑑 = 0.33ത 𝑇𝑐𝑟

Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 22
PID controller with „no overshoot“

𝐾𝑝 = 0.2𝐾𝑐𝑟

𝑇𝑖 = 0.5𝑇𝑐𝑟

𝑇𝑑 = 0.33ത 𝑇𝑐𝑟

Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 23
Auto-tuned PID controller

Tutorial 10: Control techniques | Mechatronic components and systems | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 19. Juli 2022 24
t

9 Transferfunction
o o m X s s Kx Xist ki Isis
Xk us tax ki Ish

Gls YI Ih Pan tf
it s

if I Criticallystable

State space mi kxx ki Is


X
E if Ex Is
U Is y x

Is 3 x
E u
yes of
d

KRO
Kxco
c Controllability

II 8 E 4 2 REB AB

RIB AB A'B A B

AB
T 2 FIJI
full
Rt
rank
If
Completely state
controllable

d Ax Bu U Kx

XTIIItenj.es closed looppoles

def SI A Bk S
pas s
plz
s pea

2 examples K kn k

s F 203
É É
o
e s

2 5 25 5 15
P
1
deff IA BK det s FI 8 Fella k

s 10 s 20
def f
I 52
I If deff I
30s 700

S2 kinds kxink.tk I 52 30 200

K 397 0.743 K Ft 2001

14 2007 0.743

2 s 5 5 s says
detgtg.ly
s kids Kyiv I 52 5
t 25
s 5j 5 25 1.25 s j 5 25

52 705 50

K 797 0.0095 K 2911 2000

K IF2000 0.00953
e Matlab

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