fechar
fechar

The PID Controller

The PID Controller has three parts: one is proportional,K_{P}, one integral, K_{I}, and one derivative, K_{D}. Its transfer function is:

G\left ( s \right )=K_{P}+\frac{K_{I}}{s}+s\cdot K_{D}

Each term has a different contribution to the system behavior:

K_{P} - this term decreases the rise time, reduces the error with the reference (but does not cancel it) and increases the overshoot.

K_{I} - this term cancel the reference error, but modifies the transient response. The settling time and the overshoot increase.

K_{D} - this term increases the stability, and reduces the settling time and the overshoot.
 

SIMULAÇÕES EM ENGENHARIA ELÉTRICA

 

 

 

 

 

 

 

detalhes

 

 

 

 

 

 

 
DC MOTOR

ADJUSTMENT OF THE PID CONTROLLER

Even when the system is stable, a PID Controller can be used to adjust characteristics such as the time for the system to reach steady-state or the overshoot.

Consider the block diagram that shows the system with a feedback, C\left ( s \right ).


If you want to recall the PID Controller, click on the magnifying glass.


It is possible to determine K_{P} , K_{I} and K_{D} so that the system has the suitable behavior. The influence of the controller on the system can be viewed throught the step response.

Enter the motor parameter values to determine the step response.

R_{a}= \Omega     J= kg.m2     L_{a}== H     B= kg.m2/s

K_{t}=K_{e}=   Nm/A     K_{P}=   K_{I}=   K_{D}=

voltar