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PID Control

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4 views7 pages

PID Control

Uploaded by

amgadalinasser00
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 PDF, TXT or read online on Scribd
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Faculty of Engineering
Electrical Engineering Department

What do we offer?
➢ Daily harvests and
summaries.
➢ Tutorial links & websites
The Weekly News.
➢ Scientific Seminars.
➢ Various scientific journals.
➢ Scientific trips.
➢ Experimental questions
and models.
➢ Scientific abstracts.
➢ Audio records for the
lectures.
➢ Videos for the lectures.
➢ Test Forms.
➢ Bots and Scientific
Channels.

Lab No: (1)

Committee’s Members:
Fares Alselwi
Course name:
Digital Control Systems (Lab)
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➢ LAP1 PID control:

%in this lab we show tha pid control and effict of the errors control system
% and we show the graphcally section with diffrent value of Kp.

kp=1 ; ki=1 ; kd=1


s=tf('s') % define Laplace variable
gc=kp+ki/s+kd*s % constructs the tf of the PID controller in the Laplace domain
c=pid(kp,ki,kd) % creates a PID controller
tf(c)

kd =1
s = s
Continuous-time transfer function.

gc =

s^2 + s + 1
------------------
s
Continuous-time transfer function.
c =
1
Kp + Ki * --- + Kd * s
s

with Kp = 1, Ki = 1, Kd1 =

Continuous-time PID controller in parallel form.

ans =
s^2 + s + 1
-------------------
s

Continuous-time transfer function.

kp=[1 5 10 15 20 30]
ki=0
kd=0

c=pid(kp,ki,kd)
gp=tf(1,[1 3 1])
h=1
uncsys=feedback(gp*c,h)
step(uncsys)

hold on
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kp ‫عندما تتغير قيمة‬


kp =
1 5 10 15 20 30
ki = 0
kd = 0

When Kp = 1

gp = 1
-----------------
s^2 + 3 s + 2

When Kp = 5

gp = 5
-----------------
s^2 + 3 s + 6

When Kp = 10

gp = 10
-----------------
s^2 + 3 s + 11

When Kp = 15

gp = 15
-----------------
s^2 + 3 s + 16

When Kp =20

gp = 20
-----------------
s^2 + 3 s + 21

When Kp = 30

gp = 30
-----------------
s^2 + 3 s + 31

1x6 array of continuous-time transfer functions.


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Made with Xodo PDF Reader and Editor

kp=15
ki=4
kd=7
c=pid(kp,ki,kd)
gp=tf(1,[1 3 1])
h=1
uncsys=feedback(gp,h)
step(uncsys)
hold on
csys=feedback(gp*c,h)
step(csys)
grid

kp = 15
ki = 4
kd = 7
c = 1
Kp + Ki * --- + Kd * s
s
with Kp = 15, Ki = 4, Kd = 7
Continuous-time PID controller in parallel form.
gp =
1
----------------
s^2 + 3 s + 1
Continuous-time transfer function.
h = 1
uncsys =
1
---------------------
s^2 + 3 s + 2
Continuous-time transfer function.
csys =
7 s^2 + 15 s + 4
---------------------------------
s^3 + 10 s^2 + 16 s + 4

Continuous-time transfer function.

kp=20
ki=4
kd=7
c=pid(kp,ki,kd)
gp=tf(1,[1 3 1])
h=1
uncsys=feedback(gp,h)
step(uncsys)
hold on
csys=feedback(gp*c,h)
step(csys)
grid
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kp = 20
ki = 4
kd = 7
c =
1
Kp + Ki * --- + Kd * s
s
with Kp = 20, Ki = 4, Kd = 7
Continuous-time PID controller in parallel form.
gp =
1
------------------
s^2 + 3 s + 1
Continuous-time transfer function.
h = 1
uncsys =
1
--------------------
s^2 + 3 s + 2
Continuous-time transfer function.
csys =

7 s^2 + 20 s + 4
-----------------------
s^3 + 10 s^2 + 21 s + 4

Continuous-time transfer function.

Gp=tf(1 ,[1 10 20])


step(feedback(Gp,h))
hold on
[C info ]=pidtune( Gp,'pid')
step(feedback(Gp*C,h))

Gp = 1
----------------------
s^2 + 10 s + 20
Continuous-time transfer function.
C =
1
Kp + Ki * --- + Kd * s
s
with Kp = 39.3, Ki = 116, Kd =
3.33
Continuous-time PID controller in
parallel form.
info =
struct with fields:
Stable: 1
CrossoverFrequency: 4.1614
PhaseMargin: 74.0404
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Pidtool ‫بطريقة اخرى نستطيع استخدام أمر‬

pidtool ( Gp)

Written by fares Alselwi

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