Liuping Wang - PID Control System Design and Automatic Tuning using MATLAB/Simulink

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Covers PID control systems from the very basics to the advanced topics This book covers the design, implementation and automatic tuning of PID control systems with operational constraints. It provides students, researchers, and industrial practitioners with everything they need to know about PID control systems—from classical tuning rules and model-based design to constraints, automatic tuning, cascade control, and gain scheduled control. 
PID Control System Design and Automatic Tuning using MATLAB Provides unique coverage of PID Control of unmanned aerial vehicles (UAVs), including mathematical models of multi-rotor UAVs, control strategies of UAVs, and automatic tuning of PID controllers for UAVs
Provides detailed descriptions of automatic tuning of PID control systems, including relay feedback control systems, frequency response estimation, Monte-Carlo simulation studies, PID controller design using frequency domain information, and MATLAB/Simulink simulation and implementation programs for automatic tuning Includes 15 MATLAB/Simulink tutorials, in a step-by-step manner, to illustrate the design, simulation, implementation and automatic tuning of PID control systems Assists lecturers, teaching assistants, students, and other readers to learn PID control with constraints and apply the control theory to various areas. Accompanying website includes lecture slides and MATLAB/ Simulink programs
is intended for undergraduate electrical, chemical, mechanical, and aerospace engineering students, and will greatly benefit postgraduate students, researchers, and industrial personnel who work with control systems and their applications.

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(1.6) Figure 12Closedloop step response of a proportional control system Example - фото 99

Figure 12Closedloop step response of a proportional control system Example - фото 100

Figure 1.2Closed-loop step response of a proportional control system ( Example 1.1).

For any value of , , i.e. not equal to the desired value at the steady state response. Figure 1.2 shows the closed-loop step response with the proportional controller and , respectively. It is seen that with the increased proportional gain , the closed-loop response speed increases and the steady-state value becomes closer to the desired value 1.

1.2.2 Proportional Plus Derivative Controller

In many applications, a proportional controller картинка 101is not sufficient to achieve a particular control objective such as stabilization or producing adequate damping for the closed-loop system. For instance, for a double integrator system with the transfer function:

(1.7) PID Control System Design and Automatic Tuning using MATLABSimulink - изображение 102

the closed-loop control system with a proportional controller has a transfer function which has a pair of closedloop poles determined by - фото 103has a transfer function

PID Control System Design and Automatic Tuning using MATLABSimulink - изображение 104

which has a pair of closed-loop poles determined by the solutions of the polynomial equation:

PID Control System Design and Automatic Tuning using MATLABSimulink - изображение 105

These poles are at PID Control System Design and Automatic Tuning using MATLABSimulink - изображение 106. Thus, no matter what choice we make for картинка 107, the system still behaves in a sustained oscillatory manner because the pair of closed-loop poles are on the imaginary axis of the complex plane.

Now, assuming that we will additionally take the derivative of the feedback error signal into the control signal calculation, this leads to

(1.8) where is the derivative control gain The Laplace transfer function of 18is - фото 108

where is the derivative control gain The Laplace transfer function of 18is - фото 109is the derivative control gain.

The Laplace transfer function of (1.8)is calculated as

Figure 13 Proportional plus derivative feedback control system - фото 110 PID Control System Design and Automatic Tuning using MATLABSimulink - изображение 111

Figure 1.3 Proportional plus derivative feedback control system ( PID Control System Design and Automatic Tuning using MATLABSimulink - изображение 112).

This is what we called a proportional plus derivative (PD) controller.

The closed-loop feedback control configuration for a PD controller is shown in Figure 1.3. For the double integrator system (1.7), with the derivative term included in the controller, then the closed-loop transfer function becomes

(1.9) 110 The closedloop poles are determined by the solutions of the - фото 113

(1.10) The closedloop poles are determined by the solutions of the characteristic - фото 114

The closed-loop poles are determined by the solutions of the characteristic polynomial equation as

which are Clearly we can choose the values of and - фото 115

which are

Clearly we can choose the values of and to achieve the desired closedloo - фото 116

Clearly, we can choose the values of картинка 117and картинка 118to achieve the desired closed-loop performance.

It is worthwhile emphasizing that almost without exception, the derivative term is different from the original form PID Control System Design and Automatic Tuning using MATLABSimulink - изображение 119in the implementation. This is because the derivative term PID Control System Design and Automatic Tuning using MATLABSimulink - изображение 120is not practically implementable and the differentiation of the output signal картинка 121leads to amplification of the measurement noise. Thus, there are a few modifications with regard to the derivative terms. Firstly, in order to avoid the problem caused by a step reference trajectory change (the so-called derivative kick problem (Hägglund (2012))), the derivative action is only implemented on the output signal картинка 122. Secondly, in order to avoid amplification of the measurement noise, a derivative filter is in a companionship with the derivative term картинка 123.

A commonly used derivative filter is a first order filter and has its time constant linked as a percentage to the actual derivative gain PID Control System Design and Automatic Tuning using MATLABSimulink - изображение 124in the form:

(1.11) PID Control System Design and Automatic Tuning using MATLABSimulink - изображение 125

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