Scribd
Upload
20 views2 pages

Tut 1

This document discusses several mass-spring-damper systems and methods for determining PID controller parameters to control them. It provides transfer functions for the systems and calculates values like damping ratio, natural frequency, rise time and overshoot. Ziegler-Nichols tuning methods are applied to find PID parameters for proportional, PD and PID controllers used with the different systems. Critical gain and period values are also determined for one plant transfer function.

Uploaded by

DECENT DECENT MUSINAI
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
20 views2 pages

Tut 1

This document discusses several mass-spring-damper systems and methods for determining PID controller parameters to control them. It provides transfer functions for the systems and calculates values like damping ratio, natural frequency, rise time and overshoot. Ziegler-Nichols tuning methods are applied to find PID parameters for proportional, PD and PID controllers used with the different systems. Critical gain and period values are also determined for one plant transfer function.

Uploaded by

DECENT DECENT MUSINAI
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
You are on page 1/ 2

EMG 2410 Control Engineering II

Tutorial 1

1. Figure 1 shows a spring-mass-damper system that has a mass of 1 kg, a spring of stiffness 20
N/m and a damper with a damping coefficient of 10 Ns/m. The system is subjected to a step
force of 1 N.

Figure 1: Mass-spring-damper system

(a) Determine the system transfer function relating the output x(t) and input f (t) and calculate
values for ωn and ζ. What kind of system is it?
[ X(s)
F (s) =
1
s2 +10s+20
, ωn = 4.47 rad/s, ζ= 1.118, Overdamped]

(b) If the system is controlled by a proportional controller, and the maximum overshoot should
not exceed 0.1 when subjected to a unit step input, determine the value of the controller
gain Kp [Kp = 51.53]
1
(c) What is the steady state error of the system in (b)? [ess = 1+Kp = 0.019]

2. Figure 2 shows the process reaction curve for the system in Figure 1. If the system is controlled
by a PID controller, determine the values of parameters Kp , Ti and Td of the PID controller.
[Kp ≈ 144.0165, Ti ≈ 0.1428, Td ≈ 0.0357]

Figure 2: Process reaction curve for system in Figure 1

3. The system in Figure 1 is controlled by a PD controller. Determine the values of Kp and Kd


that will produce a rise time of 0.4 s and a maximum overshoot of Mp = 10%.
[ζ=0.5912, ωn = 5.5094 rad/s, Kd =-3.48, Kp =10.34]
4. Consider a control system shown in Figure 3, in which a PID controller is used to control the
system.

Figure 3: PID controlled system

(a) Using the Ziegler-Nichols Method (the Continuous Cycling Method), determine the values
of parameters Kp , Ti and Td of the PID controller.
[Kcr = 200, Tcr = 1.4050 s, Kp = 120, Ti = 0.7025, Td = 0.1756]

(b) Using the Ziegler-Nichols Method (the Process Reaction Method), determine the values of
parameters Kp , Ti and Td of the PID controller.

5. Figure 4 shows a control system in which a PID controller is used to control the system. Using
the Ziegler-Nichols Method (the Process Reaction Method), determine the values of parameters
Kp , Ti and Td of the PID controller. [Kp ≈ 12.51, Ti ≈ 1.4, Td ≈ 0.35]

Figure 4: PID controlled system

6. Consider a plant whose transfer function is given by Equation 1. Determine the critical gain
and corresponding oscillation period for the system. [Kcr = 10, Tcr = π]

1
Gp = (1)
(s + 1)(s2+ 2s + 2)

You might also like