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PROGRAMMING-EXERCISE-03 - Boniel, Lamsis

The document discusses using a PID controller to meet specific requirements for a transfer function model by adjusting the PID parameters through trial and error. It describes how changing the proportional, integral, and derivative gains affects the system and how successfully tuning them can achieve the desired stability, response time, overshoot and settling time.

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Jeremiah Pua
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28 views4 pages

PROGRAMMING-EXERCISE-03 - Boniel, Lamsis

The document discusses using a PID controller to meet specific requirements for a transfer function model by adjusting the PID parameters through trial and error. It describes how changing the proportional, integral, and derivative gains affects the system and how successfully tuning them can achieve the desired stability, response time, overshoot and settling time.

Uploaded by

Jeremiah Pua
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 DOCX, PDF, TXT or read online on Scribd
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PROGRAMMING EXERCISE 03

DISCUSSION:

In the preceding programming exercise, a transfer function was derived, denoted as G(s),
231.3188
which can be expressed as G ( s )= 2 . The transfer function can be utilized in
s +6.412748+257.0209
MATLAB to obtain various step response characteristics, such as settling time and overshoot.

In this programming exercise 03, we programmed the transfer function with a PID
controller to meet the specified requirements. These requirements were determined based on
the obtained values of the step response characteristics.

1. Steady-state output is 1.2.


2. Critically damped.
3. Settling time is 4% to 10% of the plant settling time.
4. Overshoot is 25% to 33% of the plant overshoot.
5. Minimal implementation (use only absolutely necessary PID terms).

Our objective is to achieve values that fall within the specified set of requirements.

T s=( 1.2151 ) ( 4 % )=0.048604 TO T s=( 1.2151 ) ( 10 % )=0.12151

%OS=( 65.1853 ) ( 25 % )=16.296325 TO %OS=( 65.1853 ) ( 33 % )=21.511149

Names: Boniel, Jemuel Shadrach V. BSME – 4A


Lamsis, Cher Vincent Sol D.

The programmed transfer function with the PID controller did not yield the desired set of

values. To meet the specified criteria, we adjusted the PID controller using an iterative process
of trial and error. We have initiated the trial-and-error process using the acquired values of Kp,
Ki, and Kd. By individually adjusting the values of Kp, Ki, and Kd, we observed the impact of
these modifications on the characteristic values of the step response. The effects of altering the
values of Kp, Ki, and Kd in a PID control system on system performance have been observed.
Raising the value of Kp enhances the system's reaction to the discrepancy between the desired
setpoint and the actual output. Increasing the value of Kp can result in quicker response times;
however, it can also introduce overshoot and oscillations. On the other hand, decreasing the
proportional gain (Kp) can enhance the stability of the system, albeit at the cost of reduced
responsiveness. In contrast, raising the value of Ki amplifies the impact of the accumulated error
as time progresses. This aids in decreasing steady-state errors and enhancing the system's
capacity to achieve and sustain the desired value. Excessively high Ki values can result in
instability and oscillations. Increasing Kd improves the system's responsiveness to changes in
the error rate. It aids in attenuating oscillatory behavior and minimizing overshooting. A high Kd
value can increase noise amplification and enhance the system's susceptibility to measurement
noise.

PID TUNING THROUGH TRIAL AND ERROR IN ORDER TO MEET SPECIFIC


REQUIREMENTS
After conducting extensive experimentation and encountering numerous challenges, we
have successfully determined the optimal values for the parameters Kp, Ki, and Kd. This process
involved a significant investment of time and effort, but ultimately led us to a set of values that
effectively meet our objectives. After careful consideration and analysis, we have successfully
identified a set of values that effectively address the specific requirements by striking an
appropriate balance between stability, responsiveness, and accuracy.

CONCLUSION

The PID controller is frequently employed in control systems to fulfill specific criteria and
attain desired performance. A PID controller may be selected to meet specified requirements due
to its ability to effectively regulate a system's output by continuously adjusting its control signal
based on the error between the desired setpoint and the measured process variable.

1. Proportional control in a PID controller generates a control action that is directly


proportional to the error between the desired setpoint and the actual output. This concept
aids in minimizing steady-state error and enhancing the system's response time. The
controller's sensitivity to error can be fine-tuned by adjusting the proportional gain.

2. Integral control in a PID controller involves integrating the error over time to address
steady-state error resulting from disturbances or system biases. The system continuously
modifies the control output in order to minimize the accumulated error. The integral term
is valuable for eliminating long-term offset between the setpoint and the actual output.

3. The derivative term in a PID controller utilizes the error's rate of change to generate a
control action. Anticipating and mitigating future errors can enhance the system's ability
to effectively respond to abrupt changes or disturbances. The inclusion of the derivative
term in a system can improve stability and mitigate issues such as overshoot and
oscillations.

A PID controller can effectively meet various control system requirements by integrating
these three control actions.

The accurate tracking of a desired setpoint can be achieved by a PID controller through the
adjustment of its proportional, integral, and derivative gains. It reduces steady-state error,
decreases response time, and enhances setpoint tracking accuracy.

 Disturbance Rejection: The inclusion of an integral term in a PID controller aids in the
elimination of steady-state error induced by disturbances, thereby facilitating a prompt
return of the system to the setpoint following a disturbance. The derivative term can
mitigate sudden disturbances.

The inclusion of proportional and derivative terms in a PID controller aids in achieving
stability by mitigating oscillations and minimizing overshoot. The gains of the controller can be
modified in order to attain the desired stability margins.

 Robustness: A PID controller can be adjusted to accommodate fluctuations in system


parameters, such as alterations in load or operating conditions. The controller can adapt
to various scenarios and maintain desired performance by adjusting the gains.

The PID controller is a versatile and commonly employed control strategy that can be
customized to fulfill specific requirements in a control system. It offers precise setpoint tracking,
disturbance rejection, stability, and robustness.

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