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    11 - 2 Matlab Simulink PID

    Uploaded by

    Shilpya Kurniasih
    This document discusses implementing a PID controller in Simulink. It provides the transfer functions for a PID controller both with and without a derivative filter. With a derivative filter, the transfer function includes an additional term with the filter time constant τD in the denominator. An example is given of calculating the P, I, and D terms for a PID controller with specified parameters of Kc, τI, and τD. The example also compares the response of P, PI, and PID controllers in Simulink.

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    © All Rights Reserved
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    11 - 2 Matlab Simulink PID

    Uploaded by

    Shilpya Kurniasih
    82 views14 pages
    This document discusses implementing a PID controller in Simulink. It provides the transfer functions for a PID controller both with and without a derivative filter. With a derivative filter, the transfer function includes an additional term with the filter time constant τD in the denominator. An example is given of calculating the P, I, and D terms for a PID controller with specified parameters of Kc, τI, and τD. The example also compares the response of P, PI, and PID controllers in Simulink.

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    11_2 Matlab Simulink PID

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    This document discusses implementing a PID controller in Simulink. It provides the transfer functions for a PID controller both with and without a derivative filter. With a derivative filter, the transfer function includes an additional term with the filter time constant τD in the denominator. An example is given of calculating the P, I, and D terms for a PID controller with specified parameters of Kc, τI, and τD. The example also compares the response of P, PI, and PID controllers in Simulink.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    82 views14 pages

    11 - 2 Matlab Simulink PID

    Uploaded by

    Shilpya Kurniasih
    This document discusses implementing a PID controller in Simulink. It provides the transfer functions for a PID controller both with and without a derivative filter. With a derivative filter, the transfer function includes an additional term with the filter time constant τD in the denominator. An example is given of calculating the P, I, and D terms for a PID controller with specified parameters of Kc, τI, and τD. The example also compares the response of P, PI, and PID controllers in Simulink.

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    Example :

    ■ Consider liquid level system with PI controller shown below.


    ■ Given A = 3 ft2, R = 1.0 min/ft2, K 𝑉 = 0.2 cfm/psi, K 𝑚 = 4
    mA/ft, Kc = 4, K 𝐼𝑃 = 0.75 psi/mA, and τ𝐼 = 3 min.
    ■ Suppose that the system is initially at the nominal steady
    state with a liquid level of 2 ft. If the set point suddenly
    changed from 2 to 3 ft, how long will it take the system to
    reach
    a) 2.5 ft 𝐴 = 3 𝑓𝑡 2
    b) 3 ft 𝐾𝑃 = 𝑅 = 1 𝑚𝑖𝑛/𝑓𝑡 2
    τ = 𝑅 𝐴 = 3 𝑚𝑖𝑛
    Solution:
    1
    ■ For PI controller → 𝐺𝑐 = K 𝑐 1 +
    τ𝐼 𝑠

    1 1
    ■ The closed loop ′
    𝐻 𝑠 1+ 𝐾𝑂𝐿
    transfer function for
    τ𝐼 𝑠 τ𝑠 + 1
    ′ =
    set point changes : 𝐻𝑠𝑝 𝑠 1 1
    1+ 1+ 𝐾𝑂𝐿
    τ𝐼 𝑠 τ𝑠 + 1

    𝐻′ 𝑠 τ𝐼 𝑠 + 1
    ′ = 2 2
    𝐻𝑠𝑝 𝑠 τ3 𝑠 + 2ζ3 τ3 𝑠 + 1

    𝑓𝑡 3 /𝑚𝑖𝑛 𝑚𝑖𝑛 𝑝𝑠𝑖


    𝐾𝑂𝐿 = 𝐾𝑐 𝐾𝑣 𝐾𝐼𝑃 𝐾𝑝 𝐾𝑚 = 4 0.2 1.0 1.7 = 1.36
    𝑝𝑠𝑖 𝑓𝑡 2 𝑓𝑡
    Solution:
    ττ𝐼 3(3)
    τ3 = = = 2.57
    𝐾𝑂𝐿 1.36

    1 1 + 𝐾𝑂𝐿 τ𝐼 1 1 + 1.36 3
    ζ3 = = = 1.01
    2 𝐾𝑂𝐿 τ 2 1.36 3

    2τ3 ζ3 = 5.21

    ■ Transfer function of 𝐻′ 𝑠 3𝑠 + 1
    =
    closed loop → ′
    𝐻𝑠𝑝 𝑠 6.62 𝑠 2 + 5.21 𝑠 + 1
    𝐻′ 𝑠 3𝑠 + 1 1
    ′ = =
    𝐻𝑠𝑝 𝑠 3𝑠 + 1 2.21𝑠 + 1 2.21𝑠 + 1

    ■ The step change in set point: ′


    3−2 1
    𝐻𝑠𝑝 𝑠 = =
    𝑠 𝑠
    Solution:
    1
    𝐻′ 𝑠 =
    𝑠 2.21𝑠 + 1

    ■ Response → ℎ′ 𝑡 = 1 − 𝑒 −𝑡/2.21

    𝑡 = −2.21 𝑙𝑛 1 − ℎ′ 𝑡

    ■ At ℎ 𝑡 = 2.5 𝑓𝑡 → ℎ′ 𝑡 = 0.5 𝑓𝑡 → 𝑡 = 1.53 𝑚𝑖𝑛

    ■ At ℎ 𝑡 = 3 𝑓𝑡 → ℎ′ 𝑡 = 1.0 𝑓𝑡 → 𝑡 = ∞
    PID CONTROLLER
    IN SIMULINK
    With derivative filter
    PID controller in Simulink

    PID controller transfer function


    (with a derivative filter)

    1 τ𝐷 𝑠
    𝐺𝑐 = 𝐾𝑐 1 + +
    τ𝐼 𝑠 ατ𝐷 𝑠 + 1

    1 𝑁 1 τ𝐷 𝑠
    𝑃+𝐼 +𝐷 = 𝐾𝑐 1 + + 𝑃 = 𝐾𝑐
    𝑠 1 τ𝐼 𝑠 ατ𝐷 𝑠 + 1
    1+𝑁
    𝑠 𝐾𝑐
    𝐼=
    1 𝐷 𝐾𝑐 𝐾𝑐 τ𝐷 𝑠 τ𝐼
    𝑃+𝐼 + = 𝐾𝑐 + +
    𝑠 1 +1 τ𝐼 𝑠 ατ𝐷 𝑠 + 1
    𝑁 𝑠 𝐷 = 𝐾𝑐 τ𝐷
    1 𝐷𝑠 𝐾𝑐 𝐾𝑐 τ𝐷 𝑠
    𝑃+𝐼 + = 𝐾𝑐 + + 1
    𝑠 1𝑠+1 τ𝐼 𝑠 ατ𝐷 𝑠 + 1 𝑁=
    𝑁 ατ𝐷
    Example:
    ■ For PID controller with parameter value of
    ■ 𝐾𝑐 = 15, τ𝐼 = 0.5, τ𝐷 = 0.1 𝑤𝑖𝑡ℎ α = 0.16

    𝑃 = 𝐾𝑐 = 15

    𝐾𝑐 15
    𝐼= = = 30
    τ𝐼 0.5

    𝐷 = 𝐾𝑐 τ𝐷 = 15(0.1) = 1.5

    1 1
    𝑁= = = 62.5
    ατ𝐷 0.16(0.1)
    Example: Comparison P,PI and PID
    PID CONTROLLER
    IN SIMULINK
    Without derivative filter
    PID controller in simulink
    the PID control (without a derivative filter) is given by

    𝑃′ 𝑠 1
    𝐺𝑐 = = 𝐾𝑐 1 + + τ𝐷 𝑠
    𝐸 𝑠 τ𝐼 𝑠

    1 𝐾𝑐 𝑣𝑎𝑙𝑢𝑒
    τ𝐼

    𝑠𝑢𝑏𝑠𝑦𝑠𝑡𝑒𝑚

    τ𝐷
    Example:
    ■ For PID controller with parameter value of
    ■ 𝐾𝑐 = 15, τ𝐼 = 0.5, τ𝐷 = 0.1
    END

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