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2018 - 10 - 19 - Yifan - PID Controller Design

The document discusses PID controller design. It defines a PID controller and describes its origin. It provides an example problem of designing a PID controller for a mass-spring-damper system. It shows the open-loop step response and then tunes the controller with proportional, proportional-integral, and finally proportional-integral-derivative control. Manual tuning of the PID parameters Kp, Ki, and Kd is described to obtain the desired response without overshoot and steady-state error. Reference substrate and source temperatures for a specific application are also provided.

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Hanan Shayibo
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32 views15 pages

2018 - 10 - 19 - Yifan - PID Controller Design

The document discusses PID controller design. It defines a PID controller and describes its origin. It provides an example problem of designing a PID controller for a mass-spring-damper system. It shows the open-loop step response and then tunes the controller with proportional, proportional-integral, and finally proportional-integral-derivative control. Manual tuning of the PID parameters Kp, Ki, and Kd is described to obtain the desired response without overshoot and steady-state error. Reference substrate and source temperatures for a specific application are also provided.

Uploaded by

Hanan Shayibo
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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PID Controller Design

Yifan Yuan
10/14/2018
PID controller
➢ Definition
A proportional–integral–derivative controller (PID controller or three term controller) is a control loop
feedback mechanism widely used in industrial control systems and a variety of other applications
requiring continuously modulated control.

➢ Origin:
1. PID or three-term control was first developed using theoretical analysis,
by Russian American engineer Nicolas Minorsky
PID Controller Design
• Proportional-Integral-Derivative (PID) controller is a simple, yet
versatile, feedback compensator structure

a measured process variable

e(t)= y(t)-r(t)

The overall control function


Example Problem

Governing equation

Laplace transform of the governing equation

Transfer function

a simple mass-spring-damper system.

Let

The goal is to adjust Kp, Ki and Kd to obtain:


System diagram

Input Output
F(s) X(s)

+ E(s) N(s)
F(s) X(s)
-

Transfer function=
Open-Loop Step Response

transfer function
The rise time: 1 s

the settling time: 1.5 s

steady-state error: 0.95


Proportional Control: Kp

transfer function

the rise time: 0.18

the settling time: 0.8 s


Kp = 300;

steady-state error: 0.05


Proportional-Integral Control: Kp，Ki

transfer function

Kp = 30;
Ki = 70;

the integral controller reduces the rise time, increases the overshoot, and eliminated the steady-state error
Proportional-Integral-Derivative Control: Kp, Ki, Kd

transfer function

Kp = 350;
Ki = 300;
Kd = 50;

Now, we have designed a closed-loop system with no overshoot, fast rise time, and no steady-state error.
How are the PID parameters (Kp, Ki, Kd) tuned
Manual tuning

1. Set Ki and Kd values to zero. Increase the Kp to approximately half of that value for a "quarter amplitude decay"
type response.
How are the PID parameters (Kp, Ki, Kd) tuned
Manual tuning

2. increase Ki until any offset is corrected in sufficient time for the process. Make the steady-state error to be zero.
How are the PID parameters (Kp, Ki, Kd) tuned
Manual tuning

3. Finally, increase Kd, if required, until the loop is acceptably quick to reach its reference after a load disturbance.
In our cases

Substrate Temperature: 10±2 °C Source Temperature: 20 (+1.8 ~ -0.2 °C)


Reference
• Nasser M. Abbasi. Determination of PID controller parameters from
step response specifications.
http://www.12000.org/my_notes/PID_ode/index.pdf
• Introduction: PID Controller Design.
http://ctms.engin.umich.edu/CTMS/index.php?example=Introduction
&section=ControlPID
• https://en.wikipedia.org/wiki/PID_controller
Thank you!
Any questions?

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