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Transfer Functions and PID Controller

The document discusses dynamic equations and transfer functions in matrix form, detailing the relationships between inputs and outputs in a control system. It presents the transfer functions G₁(s) and G₂(s) for control and disturbance inputs, respectively, along with the determinant Δ. Additionally, it introduces a PID controller with specified gains and provides a MATLAB implementation guideline for the controller setup.

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2 views2 pages

Transfer Functions and PID Controller

The document discusses dynamic equations and transfer functions in matrix form, detailing the relationships between inputs and outputs in a control system. It presents the transfer functions G₁(s) and G₂(s) for control and disturbance inputs, respectively, along with the determinant Δ. Additionally, it introduces a PID controller with specified gains and provides a MATLAB implementation guideline for the controller setup.

Uploaded by

70139964
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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Dynamic Equations and Transfer Functions

The equations of motion can be represented in matrix form as:

(M₁s² + b₁s + K₁)X₁(s) - (b₁s + K₁)X₂(s) = U(s)


-(b₁s + K₁)X₁(s) + (M₂s² + (b₁ + b₂)s + (K₁ + K₂))X₂(s) = (b₂s + K₂)W(s) - U(s)

This can be written in matrix form as:

[[M₁s² + b₁s + K₁, -(b₁s + K₁)],


[-(b₁s + K₁), M₂s² + (b₁ + b₂)s + (K₁ + K₂)]] * [X₁(s), X₂(s)]ᵀ = [U(s), (b₂s + K₂)W(s) -
U(s)]ᵀ

Let A be the coefficient matrix and Δ be the determinant:

Δ = (M₁s² + b₁s + K₁)(M₂s² + (b₁ + b₂)s + (K₁ + K₂)) - (b₁s + K₁)²

Then, the inverse of matrix A is multiplied by the input vector:

[X₁(s), X₂(s)]ᵀ = 1/Δ * [[M₂s² + (b₂ + K₂), (b₁s + K₁)],


[(b₁s + K₁), M₁s² + b₁s + K₁]] * [U(s), (b₂s + K₂)W(s) - U(s)]ᵀ

For control input U(s) only (W(s) = 0), the transfer function G₁(s) becomes:

G₁(s) = (X₁(s) - X₂(s)) / U(s) = ((M₁ + M₂)s² + b₂s + K₂) / Δ

For disturbance input W(s) only (U(s) = 0), the transfer function G₂(s) becomes:

G₂(s) = (X₁(s) - X₂(s)) / W(s) = -(M₁b₂s³ + M₁K₂s²) / Δ

The dynamic equations in transfer function form are the following:

G₁(s) = (X₁(s) - X₂(s)) / U(s) = ((M₁ + M₂)s² + b₂s + K₂) / Δ

G₂(s) = (X₁(s) - X₂(s)) / W(s) = -(M₁b₂s³ + M₁K₂s²) / Δ

where,

Δ = (M₁s² + b₁s + K₁)(M₂s² + (b₁ + b₂)s + (K₁ + K₂)) - (b₁s + K₁)²

Adding a PID Controller


Recall that the transfer function for a PID controller is:

C(s) = Kₚ + Kᵢ/s + Kd·s = (Kd·s² + Kₚ·s + Kᵢ)/s

where Kₚ is the proportional gain, Kᵢ is the integral gain, and Kd is the derivative gain. Let's
assume that we will need all three of these gains in our controller. To begin, we might start with
guessing a gain for each: Kₚ = 208025, Kᵢ = 832100, and Kd = 624075. This can be implemented
into MATLAB by adding the following code into your m-file:

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