CLICKHERETO DOWNLOAD
MethodsforautomatictuningofaPIDcontrollerarealsodis-cussedIntroductionDigitalPIDAlgorithmsVolControlSystemsAbsolutestabilityistreatedfirstby findingthedigitalPIDcontrollergainparameterspacecorrespondingtoclosedlooppolesbeinginsidetheunitcirclePIandPIDcontrolhavebeendominant controlalgorithmsPDFVersionVelocityalgorithmInthepositionPIDcontrol,wecalculatedtheactualvalueofthePIDcontrolleroutputDigitalPIDAlgorithms Growinggapbetween“realworld”controlproblemsandthetheoryforanalysisanddesignoflinearcontrolsystemsPDcontrolhastwoterms,aproportionalterm andaderivativetermInthevelocityViewandDownloadTeshowTS81BinstructionmanualonlineChapterClosed-loopControlSystemsDigitalPID ControlleryouwillseeitisveryeasytodesignaproportionalintegralderivativecontrollerusingamicrocontrollerboardlikeArduinothanusinganalog electronicsDigitalPIDControllerDesign»TCHEBYSHEVREPRESENTATIONANDROOTCLUSTERINGExperimentalsetupThediscretetimeequation forthedigitalPIDcontrolleroutputisgivenbyu(k)=u0+Kpe(k)+T˝IXkj=1e(j)+˝DT(e(k)e(k1))(8)whereTisthesamplingtime.Frommanytuning methodswhichhasbeendevelopedtoday,DirectSynthesistuningmethodischosenforthisexperiment.StanŻak.SchoolofElectricalandComputer EngineeringWenowlookat“directdigitaldesign”Specifications:Steady-stateaccuracy, Thedigitalsignalprocessingcontroller(ArduinoUno)isusedasitis active,cheap,ithasopensourcecodeandeasytouseinthesoftwareandhardwareapplicationsThiscontrollerisalsocalledrateaction,pre–actcontroland anticipatorycontrolTS81BcontrollerpdfmanualdownloadThisformiscalledpositionalgorithmThisimplementationtechniqueusedtoavoidtheproblems whichcreateduringanaloganddigitalinterfacingsystemincontrollerusedinspeedcontrollerloopdesignofPIDcontrolleristuningofitsparametersECEFall MotivationDigitalPIDcontrollersprovidethebenefitsofpre-definedsoftware,I/Oconnections,andnetworkcapabilitiesthatmakethemidealforstandalone systems,orinDDCandDCSapplications.thispaperpresentstheimplementationofaproportional-integral-Derivative(PID)controllerformotioncontrolofaDC motorbasedonFPGAGenerally,PLCisusedtocontrolthesequenceButwecanuseitasdigitalPIDcontrollertoobyusingASCIImodule(Omron)whichcan adaptwithBASICECE/DigitalControlSystems5–1DIGITALCONTROLLERDESIGNDirectdigitaldesign:Steady-stateaccuracyWehavespentquiteabit oftimediscussingdigitalhybridsystemanalysis,andsometimeoncontrollerdesignviaemulationPDFVersionButinthistutorial,youwillseetheimplementation ofPIDcontrollerusingArduinodevelopmentboardTchebyshevrepresentationofrealpolynomialsConsiderarealpolynomialP(z)=anzn+an¡1zn¡1+¢¢¢+a 1z+aTheimageofP(z)evaluatedonthecircleC1⁄2ofradius1⁄2,centeredattheoriginis:(z):=1⁄2ejμ;a·μ·⁄¡¢¡¢AnIntroductiontoProportional-IntegralDerivative(PID)ControllersPracticalimplementationissuesarealsodiscussedparticularlymechanismsforavoidingintegratorwindupThismethodiscomposing ofthreecontrollers[1]:Proportionalcontroller(PC)Integralcontroller(IC)Derivativecontroller(DC)RoleofaProportionalController(PC)Abstract This paperpresentsamulti-objectivedigitalPIDcontrollerdesignmethodusingtheparameterspaceapproachofrobustcontrolThePDcontinuoustimetransfer functionisKp(1+˝Ds)(4)Proportional,integralandderivativeAlsofor:Ts84b,Ts85b,Ts87b,Ts89bAschematicoftheDSP-controlledlinearactuatorsystem isshowninFigureAphotographoftheassembledsystemisshowninFigureThelinearactuatoriscomposedofaDCmotor(PittmanGMCR2)turningaThomsonSaginawmm(5/8inch)diameterballscrewwithamm(13/inch)leadPIDcontrollercanimplementedusingbothanaloganddigitalelectronicsWritingcodeto processPIDalgorithmsinvolvesunderstandingprogramflow,conditionalstatements,structures,andfunctionswithintheprogramdevelopmentenvironmentA proportional–integral–derivativecontroller(PIDcontroller)isamethodofthecontrolloopfeedback.ThevastmajorityofPIDcontrollersinservicetodayare digitalinnatureThischapterdescribesthePIDcontrollerwhichunquestionablythemostcommonwayofsolvingpracticalcontrolproblem.