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S S TF: 3. Controller Design Calculations

This document discusses the design of a PI and D controller for a plant with a transfer function to reduce overshoot from 18% to 5% while maintaining zero steady state error. It provides the characteristics of P, I, and D controllers and calculates the controller parameters to achieve these specifications. Simulation results show a peak overshoot of 2.66% and settling within 1.2 seconds, meeting the design goals.

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Joy Matiwane
Copyright
© Attribution Non-Commercial (BY-NC)
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Download as DOCX, PDF, TXT or read online on Scribd
40 views

S S TF: 3. Controller Design Calculations

This document discusses the design of a PI and D controller for a plant with a transfer function to reduce overshoot from 18% to 5% while maintaining zero steady state error. It provides the characteristics of P, I, and D controllers and calculates the controller parameters to achieve these specifications. Simulation results show a peak overshoot of 2.66% and settling within 1.2 seconds, meeting the design goals.

Uploaded by

Joy Matiwane
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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1.

Introduction
2. Discussion

Plant Transfer Function
) 10 93277 . 3 10 124 . 60 (
10 93277 . 3
9 3 2
9
+ +

=
s s
tf

For this transfer function an overshoot of 18% and zero steady state error was obtain. And the later
specifications were to reduce the overshoot to 5% at zero steady state error. The performance
improvements of this 2
nd
order plant are presented in this document. The characteristics of P,I and D
controllers is given below to help when choosing what type of controller to design for.

Figure 1:P,I and D controller characteristics

3. Controller Design Calculations

The Integral controller Ki decreases the rise time increases both the overshoot and settling time but it
eliminates the steady state error of type zero system to zero.
A proportional integral controller will be used to eliminate the steady state error of the system and
keep it at zero. The general transfer function of a PI controller is as follows:


To calculate Kp a value of 0.01 steady state error is assumed.Therefore.
99
1
1
01 . 0
1
1
=
+
=
+
=
p
p
p
ss
K
K
K
e

And the transfer function is
) 10 93277 . 3 10 124 . 60 (
10 93277 . 3 ) (
9 3 2
9
+ +
+
=
s s s
Ki Kps
tf

To find Ki again a steady state error of 0.01 is assumed. Therefore..

100
1
01 . 0
1
=
=
=
i
i
i
ss
k
k
k
e

i
f
p
R
R
K =
Let R1 = 1k thus,
O =
O =
k
k R
f
99
99 1

uF
k
C
C R
K
f
f i
i
10
100 1
1
1
=
O
=
=



3.2 Derivative Controller Design
The derivative control reduces both the overshoot and the settling time of the system.The derivative
part of the controller will be used to decrease the overshoot of the system.
The closed loop transfer function is
n d
d
d
d
d
w K
s K s
s K
s K s s
s K
TF
2 10 93277 . 3 10 124 . 60
10 93277 . 3 ) 10 93277 . 3 10 124 . 60 (
10 93277 . 3 ) (
10 277 . 93 . 3 ) ( 10 277 . 93 . 3 10 124 . 60
10 277 . 93 . 3 ) (
9 3
9 9 3 2
9
9 9 3 2
9
= +
+ + +

=
+ + +

=

For a 5% oveshoot the damping ration will be calculated using the formular below.
2 2
)] 100 / [ln(%
) 100 / ln(%
OS
OS
+

=
t


For an overshoot of 5% a damping ratio of 0.32 is required

but practically this was not not achieved,
therefore a damping ratio of 2 is assumed.

6
3 3 9
9 3
10 7 , 620
10 124 . 60 ) 10 3 . 624 )( 2 ( 2 10 93277 . 3
2 10 93277 . 3 10 124 . 60

=
=
= +
kd
kd
kd
n
e

To calculate the resistor and capacitor values Let
i
C = 1uF
O =

=
=

7 . 620
1
10 7 . 620
6
uF
R
C R K
f
i f d

3.3 Inverter
Because the transfer function of both the integrator and the differentiator is negative and there is also
a negative output from the summing point, an inverter will be used to invert the signal into a positive
signal to the plant.

4. Final Schematic




5.Simulation Results
5.1
MultiSim Results

5.2 Matlab Simulation Results
Root locus Plot of the plant

-6 -5 -4 -3 -2 -1 0 1
x 10
4
-2.5
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
2.5
x 10
5
0.32
0.32
Root Locus
Real Axis
I
m
a
g
i n
a
r
y

A
x
i s
Matlab Script File
num =3932769154;
den = [1 60124.1748264 num];
Gp = tf(num,den)

Gc =tf ( [620.7e-6 99 100], [0 1 0 ]);
g1 = Gp*Gc;
Go = series(g1,1);
T = feedback (Go,1)
ltiview('step',T);

Transfer function:
3.933e009
-----------------------------
s^2 + 6.012e004 s + 3.933e009
Closed Loop Transfer Function

Transfer function:
2.441e006 s^2 + 3.893e011 s + 3.933e011
---------------------------------------------
s^3 + 2.501e006 s^2 + 3.933e011 s + 3.933e011

Overall Output Response



Step Response
Time (sec)
A
m
p
l i t
u
d
e
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
x 10
-5
0
0.2
0.4
0.6
0.8
1
1.2
1.4
System: T
Peak amplitude: 1.03
Overshoot (%): 2.66
At time (sec): 2.73e-006
System: T
Final Value: 1
-6 -5 -4 -3 -2 -1 0 1
x 10
5
-1.5
-1
-0.5
0
0.5
1
1.5
x 10
5
Root Locus
Real Axis
I
m
a
g
i n
a
r
y

A
x
i s

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