Scribd
Upload
83 views5 pages

PID Controller Design and Tuning Guide

The document discusses PID controller design, including that PID controllers can adjust both steady state error and time domain specifications, PID combines PD and PI control, and the procedure for designing a PID controller involves first designing PD control and then adding PI control to improve steady state error.

Uploaded by

huhuivory29
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
83 views5 pages

PID Controller Design and Tuning Guide

The document discusses PID controller design, including that PID controllers can adjust both steady state error and time domain specifications, PID combines PD and PI control, and the procedure for designing a PID controller involves first designing PD control and then adding PI control to improve steady state error.

Uploaded by

huhuivory29
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

PID Controller Design

 PID Controller can simultaneously adjust both


steady state error and time domain specifications.
 It is the wisely used industrial controller.

 PID is a combination of PD and PI.


 First design PD and then PI
 PID controller is characterized by two zeros and one
pole at the origin
 PD controller - feeds  Zero is selected to put design
forward to the plant a point on root locus.
proportion of the actuating  Active circuits are required to
implement.
signal plus its derivative
 Can cause noise and saturation.
for the purpose of
improving the transient
response of a closed loop
system.
 PID Controller - feeds K2
K1 + + K3s
forward to the plant a s
proportion of the actuating
signal plus its integral plus
its derivative for the
purpose of improving the
transient response and
steady state error of a
closed loop system.

(s + z PD )( s + z PI )
PID _ sys = K
s
Procedure (PID)
 Identify the model (in Transfer function form ) and specifications .
 Evaluate the performance of the uncompensated system to determine how
much improvement in transient response is required.
 Using the root locus or characteristic equation obtain the gain K and
dominant poles of uncompensated system.
 Design the PD controller to meet the transient response specifications.
The design includes the zero location and gain.
 Find gain K of the PD compensated system using root locus / magnitude
criteria.
 Estimate the steady error of PD compensated system.
 Design the PI controller to yield the required steady state error. Design
includes gain, one pole at the origin and zero close to origin.
 Find the gain K of the PD and PI compensated system.
 Evaluate the performance of the compensated system.
 Obtain the controller tuning parameters K1, K2 & K3.
K2
K1 + + K3s
s

You might also like