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Tips of Learning and PID Control

This document discusses PID control and provides tips for learning. It introduces PID control and its applications in engineering design. It explains the basic concepts of proportional, integral and derivative control and evaluates their effects on rise time, overshoot, settling time and steady-state error. Graphs demonstrate the performance of P-only, PI-only and PID control. The characteristics of each controller are summarized. The document encourages applying what is learned to design projects and goals.

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finnandzestzu
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Download as PDF, TXT or read online on Scribd
11 views

Tips of Learning and PID Control

This document discusses PID control and provides tips for learning. It introduces PID control and its applications in engineering design. It explains the basic concepts of proportional, integral and derivative control and evaluates their effects on rise time, overshoot, settling time and steady-state error. Graphs demonstrate the performance of P-only, PI-only and PID control. The characteristics of each controller are summarized. The document encourages applying what is learned to design projects and goals.

Uploaded by

finnandzestzu
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Tips of Learning & PID Control

P. Sooraksa
** Robotics and AI Program
**School of Engineering,
King Mongkut’s Institute of Technology Ladkrabang
Math: Calculus
Basic ideas
Other ideas
Master ideas
Physics and Fundamental
Engineering
P: Physical meaning
P: Physical meaning
Physical meaning
Physical meaning
Physical meaning
Physical meaning
Inventing vs Engineering
Engineering Design: System
Specification
• Stability
• Performance
• Robustness
• Cost
• Time (to develop)
• Security
Engineering Design: A Mobile
Robot
• Conceptual Drawing
Overall Designed System
802.11b
Wireless LAN
Executive level

CCD
Main PC
Camera
High level

87C196CA 87C196CA 87C196CA 87C196CA


Board #1 Board #2 Board #3 Board #4
Middle level

Photo
89C51 89C51 IR Ultrasonic Bar-code
sensors
Board #1 Board #2 Sensors Sensors Sensor
(5 Pcs)
Short range Wall-following Positioning
Collision & Long range Subsystem
Motor driver Motor driver Avoidance Collision
Board #1 Board #2 Subsystem Avoidance
Subsystem
Front
Steering
motor
motor
(Drive motor)
Low level
Subsumption Architechture
Example
Mechatronic Subsystems:
Low Level

Collision Avoidance & Warning Sound


(Rule bases & Reflex Control)

Line Tracking/Wall following


(Fuzzy PI sliding mode control) S

Remote Control via Visual Subsystem


(Human-in-the-loop of Control) S
x

Robot
Movement
Servo Positioning with Feedback
• An optical encoder is used to provide the control
system with position feedback

Control System

Position feedback Command signal

Motor Load
Optical encoder
PID Controller
PID control: Proportional / Integral / Derivative control
de
V = Kp (ωd − ω) + Ki ∫ (ωd − ω) dt + Kd dt

V = (Kp • e + Ki ∫ e + Kd d e )
dt

Error signal
ωd −e ωa
desired
ωd V actual ω
compute V using
- PID feedback
Motor

actual speed
ω
Evaluating the response

overshoot steady-state error

ss error -- difference from the


settling time system’s desired value
overshoot -- % of final value
exceeded at first oscillation
rise time -- time to span from
10% to 90% of the final value
settling time -- time to reach
within 2% of the final value

rise time

How can we eliminate the steady-state


Control Performance, P-type

Kp = 20 Kp = 50

Kp = 500
Kp = 200
Steady-state Errors, P-type

Kp = 50 Kp = 200
Control Performance, PI - type
Kp = 100

Ki = 50 Ki = 200
You’ve been integrated...
Kp = 100

instability &
oscillation
Control Performance, PID-type
Kp = 100
Ki = 200

Kd = 2 Kd = 5

Kd = 10 Kd = 20
PID final control
The Characteristics of P, I, D controllers

CL RESPONSE RISE TIME OVERSHOOT SETTLING TIME S-S ERROR

Kp Decrease Increase Small Change Decrease

Ki Decrease Increase Increase Eliminate

Kd Small Change Decrease Decrease Small Change


Applications: Up to you
Design your life: What do you want?
Then learn and go for it!

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