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Pole-Placement Pid Design

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35 views19 pages

Pole-Placement Pid Design

Uploaded by

ruanhattingh037
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Controller design by means of

the pole-placement technique


September 2024
Introduction

• What do we want to achieve with a control


system?
• We want to be able to adjust the
• Transient, and
• Steady-state response of a system.
Step-response of a typical 2-nd order system
Step-response of a typical 2-nd order system

• (Rise time) - is the time required for the response to rise from 10% to 90%.

• (Peak time) - is the time required for the response to reach the first peak of
the overshoot.

• (Peak value) - is the maximum peak value of the response curve.

• (Peak time) - is the time required for the response to reach the first peak of
the overshoot.

• (Settling time) - is the time required for the response curve to reach and
stay within 2% of the final value.
Step-response of a typical 2-nd order system

• (Steady-state error) – The difference between the reference value and the
actual output value of the system
Model of a DC motor
Armature-controlled DC motor

𝜃˙ ( 𝑠) 𝐾𝑚
𝐺 ( s) = =
𝑉 𝑎 ( 𝑠) ( 𝐿𝑎 𝑠+ 𝑅𝑎 ) ( 𝐽𝑠+ 𝑏 ) + 𝐾 𝑏 𝐾 𝑚

𝜃˙ (𝑠) 𝐾𝑚
𝐺𝑟𝑒𝑑 ( s )= ≈
𝑉 𝑎 ( 𝑠) ( 𝐽𝑠 +𝑏 )+ 𝐾 𝑏 𝐾 𝑚
Specification

• 2% settling time less than 1 second


• Peak time less than 0.50 seconds
• Maximum overshoot less than 20%
Simulation example

• Let the plant transfer function be given by

• Let and
Uncompensated system (open-loop)

1
Step input
0.9 System
output
0.8

0.7

0.6
Output

0.5

0.4

0.3

0.2

0.1

0 5 10 15 20 25 30 35 40 45
Time [s]
Uncompensated system (closed-loop)

1
System input
0.9 System output

0.8

0.7

0.6
Output

0.5

0.4

0.3

0.2

0.1

0
0 5 10 15 20 25 30 35 40 45 50
Time [s]
Compensator design

• Choose settling time of 0.7s which is less than 1 s


according to spec.
• Choose P.O. = 15% which is less than 20 %
according to spec.
Pole-placement

+ E (s)
R( s ) Ki 1
 Kp  Y (s)
- s Js  b
PI control DC motor
plant

+ E (s)
R( s ) K p s  Ki 1
 Y (s)
- s Js  b
PI control DC motor
plant
Derive closed-loop characteristic equation

+ E (s)
R( s ) K p s  Ki 1
 Y (s)
- s Js  b
PI control DC motor
plant

Kp Ki
s
T (s)  J J
2  b  Kp  Ki
s  s
 J  J

n 2
T ( s)  2
s  2n s  n 2
Match the 2nd order denominators

 b  Kp  Ki
s  2
 s   s 2
 2 n s   n
2

 J  J

 b  Kp  Ki
  2n s n 2
 J  J
Subsitute the system and control design parameters, then determine
and
PI-controller setup
Compensated system response

System input
System output
1.2

0.8
Output

0.6

0.4

0.2

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time [s]

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