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13th March Lecture PDC

The document discusses the selection of adjustable parameters for feedback controllers, specifically focusing on the tuning problem and performance criteria. It emphasizes the importance of choosing the right type of controller and the trade-offs between different performance characteristics, such as settling time and overshoot. Additionally, it introduces the one-quarter decay ratio criterion as a method for tuning controllers in servo control problems.

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Anshuman Negi
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9 views8 pages

13th March Lecture PDC

The document discusses the selection of adjustable parameters for feedback controllers, specifically focusing on the tuning problem and performance criteria. It emphasizes the importance of choosing the right type of controller and the trade-offs between different performance characteristics, such as settling time and overshoot. Additionally, it introduces the one-quarter decay ratio criterion as a method for tuning controllers in servo control problems.

Uploaded by

Anshuman Negi
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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oIfgiven to us PI cou, we still need to select the value of

the gain K andeystime T


o These two parametes have an important effect on the
Thus, the second design
response of the controlled process.
question:
Question 2; How do we select the best values for the adjustable
parameters of a feedback controller?
This is known as the CONTROLLER TUNING problem.
Now we need a quantitative measure to compare third the
alternatives and select the best controller arising the
question:
for the
Question 3;What performance criterlon should we use
selecticon and the tuning of the controller?
as possible
Ex: 1-keep the maximum deviation as small
2-Achieve short settling times
3-Minimize the integral of the errors
oRespnse of the controlled Noces/þa unit step change in
when different typespf crollers
ditfoers have
have been used.
used.
the lod, have on the response of
Ditferent
Differeht controllers have ditferfects
arises:
the cotrolled process. Thus, the first design questionused to
Question1: What type of feedback controller should be
control a iven process?

Uncatralrd

PID
SIMPLE PERFORMANCE CATERIA
o Basis fo the comparisons
of alte1ative controllet
designs Important as its
selection constitutes the
principle difficulty during
the desig of a feedback
system.
2 differen/ FB controllers
produce...

Conyoller yielding type A response would be chosen


whe criterion would be :"Return to the desired level of
opeation as soon as possible"
yielding type 0 response would be chosen
" Cotroller :"Return to the desired level of
whn criterion would be
and stay close to it in the shortest time
opration
o For every process cokrol appllcatlonwe can distinguish,
" steady state, and
" dynamic response perlormance criteria.
o The usualsteady state performance criterion is
ZERO ERROR
AT STEADY STATE.

o proportionalcontroller X
o Plcontroller can
Evaluation dynamic pertormance are of two types:
Criteria which use only a fewpoints of the response. They
aresimpler but only approximate.
Criteria which use the entire closed-loop response from
timot=0 until t= very large. Precise but cumbersomne.
characteristic
oSimple performance criteria ar basfon some most
foatureof theclosad-loop resp bt asystem. The
often quþted are:
" overshoot,
to reach the
" rise tihe, I.e. time needed for the response
desire!value or the first time,
settle
settli/g time, i.e. time necded for the response to
withh25% of the desired valuc,
" dec/y ratio,
transient
" frefuency of oscillation of the
can be designed in order to have: minimum
Contbller
overhootor minimum settling time, etc.
characteristic does not suffice.. We require that
One imple overshoot and
mor objectives be satisfied, Le. minimize
minnize settling time, etc.
Coetroler Cessed on mtiple crteria lead to
confictng response claracteristics

oFor exple, Fgre 164 shows that by decreasing the valiue


f he overshoct we increase the seting t e

The coetrol Cesger ust intervene and subectvely balance


becoeficting characterstcs
DECAY RATIO has been he most popar by the practicing
engeers Specaly, experence has shoen thata Gecay
rato
CA=4
s a reasonable tradec betwetn a fast rise tme and a
reasonabie seng te. This criterion is wsualy knoen as
he coedecay rato critericn
o Controller Tuninhe One-Quarter Decay Ratio Criterion
Consider the servo control problem of a firstorder process
was developed
with Pl controller.The closed-4oop responsewhen
inSection 15.3 and is given by eqn. (15.23) Gm = Gf=1

where
( ) .2Ctu+i)

r-V
K,K,
selectn of thest" values for K and T, let us use
For the underdamped response of
simple criteria teryng from the
asecond-order syste
decay ralio = cxp

Therelore, forour problem we have,


(K,K)

Cp

sxmpistcalxonsw la
Ateracturast

Different soluions (kc, T)


46A)(30,0.348).(50,0.258),(100,0.153)

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