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Introduction: PID Controller Design: TKM415 Control Systems

This document provides an introduction and overview of PID controller design. It discusses the characteristics of proportional (P), integral (I), and derivative (D) controllers. An example problem is presented to demonstrate open-loop step response. Different PID control configurations (P, PI, PD, PID) are applied to the example plant and their step responses are shown. General tips are provided for designing a PID controller, such as obtaining the open-loop response, adding controllers to improve different response characteristics, and adjusting the P, I, and D gains. Simulink and MATLAB tools are also introduced for simulating and analyzing PID controllers.

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Reinhard Tetap Semangat
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64 views

Introduction: PID Controller Design: TKM415 Control Systems

This document provides an introduction and overview of PID controller design. It discusses the characteristics of proportional (P), integral (I), and derivative (D) controllers. An example problem is presented to demonstrate open-loop step response. Different PID control configurations (P, PI, PD, PID) are applied to the example plant and their step responses are shown. General tips are provided for designing a PID controller, such as obtaining the open-loop response, adding controllers to improve different response characteristics, and adjusting the P, I, and D gains. Simulink and MATLAB tools are also introduced for simulating and analyzing PID controllers.

Uploaded by

Reinhard Tetap Semangat
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 17

Introduction: PID Controller Design

TKM415 Control Systems


Teknik Pengaturan

Mochammad Ariyanto, M. Eng.


Contents
 PID Overview
 The Characteristics of P, I, and D Controllers
 Example Problem
 Open-Loop Step Response
 Proportional Control
 Proportional-Derivative Control
 Proportional-Integral Control
 Proportional-Integral-Derivative Control
 General Tips for Designing a PID Controller

Universitas Diponegoro 2014 TKM425 Control Systems 2


PID Overview

Universitas Diponegoro 2014 TKM425 Control Systems 3


The Characteristics of P, I, and D Controllers

Universitas Diponegoro 2014 TKM425 Control Systems 4


Example Problem

Universitas Diponegoro 2014 TKM425 Control Systems 5


Open-Loop Step Response

 The DC gain of the plant


transfer function is 1/20, so
the final steady state is 0.05.
 This corresponds to the
steady-state error of 0.95,
quite large indeed.
 The rise time is about one
second, and the settling time
is about 1.5 seconds.
 Let's design a controller that
will reduce the rise time,
reduce the settling time, and
eliminate the steady-state
error.

Universitas Diponegoro 2014 TKM425 Control Systems 6


Proportional Control

Kp = 300;
C = pid(Kp)
T = feedback(C*P,1)

t = 0:0.01:2;
step(T,t)

Universitas Diponegoro 2014 TKM425 Control Systems 7


Proportional-Derivative Control

Kp = 300;
Kd = 10;
C = pid(Kp,0,Kd)
T = feedback(C*P,1)

t = 0:0.01:2;
step(T,t)

Universitas Diponegoro 2014 TKM425 Control Systems 8


Proportional-Integral Control

Kp = 30;
Ki = 70;
C = pid(Kp,Ki)
T = feedback(C*P,1)

t = 0:0.01:2;
step(T,t)

Universitas Diponegoro 2014 TKM425 Control Systems 9


Proportional-Integral-Derivative Control

Kp = 350;
Ki = 300;
Kd = 50;
C = pid(Kp,Ki,Kd)
T = feedback(C*P,1);

t = 0:0.01:2;
step(T,t)

Universitas Diponegoro 2014 TKM425 Control Systems 10


General Tips for Designing a PID Controller

 Obtain an open-loop response and determine what


needs to be improved
 Add a proportional control to improve the rise time
 Add a derivative control to improve the overshoot
 Add an integral control to eliminate the steady-state
error
 Adjust each of Kp, Ki, and Kd until you obtain a
desired overall response. You can always refer to the
table shown in this "PID Tutorial" page to find out
which controller controls what characteristics.

Universitas Diponegoro 2014 TKM425 Control Systems 11


PID Simulink

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Sisotool MATLAB

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Sisotool MATLAB

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Sisotool MATLAB

Universitas Diponegoro 2014 TKM425 Control Systems 15


Homework

Universitas Diponegoro 2014 TKM425 Control Systems 16


Homework

Universitas Diponegoro 2014 TKM425 Control Systems 17

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