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3. Intro to Controller Design

Chapter 3 of 'Automatic Control' introduces controller design, focusing on PID control, which is the most widely used method in industrial applications. It covers the principles of proportional, integral, and derivative control, along with their mathematical formulations and practical implications. The chapter also includes examples and exercises using Matlab/Simulink to reinforce the concepts discussed.

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6 views

3. Intro to Controller Design

Chapter 3 of 'Automatic Control' introduces controller design, focusing on PID control, which is the most widely used method in industrial applications. It covers the principles of proportional, integral, and derivative control, along with their mathematical formulations and practical implications. The chapter also includes examples and exercises using Matlab/Simulink to reinforce the concepts discussed.

Uploaded by

sonbt.23bi14389
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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Automatic Control – Chapter 3

INTRODUCTION TO
CONTROLLER DESIGN

Tran Anh Tu – Department of Aeronautics


[email protected]
CONTENTS

01 02 03

Introduction Overview of PID Practice with Matlab


Control / Simulink
CONTENTS

01 02 03

Introduction Overview of PID Practice with Matlab


Control / Simulink
GETTING STARTED

Previously, you got the idea of the controller's role in a control system

4
EXAMPLE

How to turn a car in a corner?

Normal turn Drifting Ultimate way

5
EXAMPLE

Two F1 cars both perform the turn

6
GENERAL IDEA

Given the same object and output, different methods of control


will lead to different behaviour and performance

7
CONTROL METHODS

Mathematical model of controller to generate suitable input to the plant

8
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CONTENTS

01 02 03

Introduction Overview of PID Practice with Matlab


Control / Simulink
PID CONTROL: INTRODUCTION

https://youtu.be/wkfEZmsQqiA

11
PID CONTROL

• PID: Proportional, Integral, Derivative


• The simplest & most popular method of control
o More than 90% of industrial controllers are PID

DIY project Temperature control Solar tracker

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PID CONTROL

Block diagram of PID control

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PID CONTROL

Mathematical formula of PID control

𝑑𝑒(𝑡)
𝑢 𝑡 = 𝑘𝑃 𝑒 𝑡 + 𝑘𝐼 න 𝑒 𝑡 𝑑𝑡 + 𝑘𝐷
𝑑𝑡

where
• u(t): controller output
• e(t): error term
• kP: proportional gain
• kI: integral gain
• kD: derivative gain

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PID CONTROL

• In this chapter, we will not go depth into the maths, but rather
build an intuitive understanding of PID controller
• More detail will be covered in later chapters

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PROPORTIONAL CONTROL

• Example: A car gradually decreases the speed as it approaches


the finish line

v = kPe(t)

50 m

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PROPORTIONAL CONTROL

Affect of proportional gain to the error

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PROPORTIONAL CONTROL

• There are always steady-state errors


• Large value of kP generally causes system to be unstable

Zeno Paradox

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INTEGRAL CONTROL

• Example: Rise a drone to the desired altitude, then maintain the


speed of propellers constant
o Proprotional control alone does not work if e(t) = 0
o Integral control will return constant speed value in this case

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INTEGRAL CONTROL

• Can eliminate steady-state errors


• Potential of overshooting, integral windup

Overshooting Windup

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DERIVATIVE CONTROL

• Predict future output based on the error's current rate of change


• Example: If for an unexpected reason, the drone rises too fast,
derivative controller senses the change and slows it down

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VARIANCES OF PID CONTROL

kp kp kp
Error Output Error Output Error Output
0 kI 0

0 0 kD

P controller PI controller PD controller

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PID TUNING

Adjust kP, kI, kD properly to obtain desired output with desired performance

Manually Using Matlab PID Tuner

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INTEGRAL WINDUP

• Happen due to non-linearity of actuator (saturation, backlash…)


➢ Anti-windup method such as clamping should be implemented

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DERIVATIVE NOISE

• The high frequency noise can be amplified by the derivative term


➢ Apply low-pass filter in the design

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HARDWARE DEMO

https://youtu.be/fusr9eTceEo

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CONTENTS

01 02 03

Introduction Overview of PID Practice with Matlab


Control / Simulink
SIMULINK PRACTICE #1

Follow Tutorial 3.1 to build a PID controller


to control the car suspension system

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SIMULINK PRACTICE #2

Develop a PID controller to control the toy train

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