Pid controller
- 1. Prepared By: Kishan Beldiya (140040109002) Jaydeep Chandra (140040109009) 5th Sem., EE. Engg. Dept., BHGCET, Rajkot Internal Guide: Prof. Nirav B Mehta Electrical Dept. BHGCET, Rajkot Presentation on Types Of Controller Under the subject of Control System Engineering
- 2. Types Of Controller • On-Off Controller • P Controller • PI Controller • PD Controller • PID controller
- 3. On-Off Controller • On-Off control is the simplest form of feedback control and it has only two mode. • A common example of on-off control is the temperature control in a domestic heating system.
- 4. P Controller • To Understand P Controller We Need a Model Velocity Gas paddle
- 5. P Controller • The relationship between the error signal and controller output m(t)=Kpe(t)+m0 Here , m(t)=Controller output, e(t)=error Kp=Proportional gain constant m0=Controller output at zero error
- 6. Block-Diagram Kp ωn²/s(s+2ξωn) R(s) e(t) m(t) b(t) C(s) -
- 7. Kpωn² C(s) G(s) s(s+2ξωn) R(s) 1 + G(s)H(s) 1 + Kpωn² s(s+2ξωn) Kpωn² s²+2ξωns+Kp ωn² = = = Using block diagram reduction
- 8. PI Controller The integral action is given by, mi(t) = ki ∫e(t)dt+ m(0) Mathematical expression for P-I controller m(t)=kpe(t) + ki∫e(t)dt + m(0)
- 10. We use Block Diagram Reduction Techniques C(s) G(s) R(s) 1 + G(s)H(s) (Kp s + Ki)ωn² s³ + 2ξs²ωn +Kp ωn²+Ki ωn² = =
- 11. P-D Controller The derivation action is given by, md(t)=Kd 𝑑 𝑑𝑡 e(t) mathematical expression for P-D Controller is m(t)=Kpe(t)+ Kd 𝑑 𝑑𝑡 e(t)+m0 Now take laplace, M(s)=KpE(s) + Kd sE(s)+M0
- 12. Kp ωn²/s(s+2ξωn) e(t) c(s) m(t) - Kd 𝑑/𝑑𝑡Kd s + + R(s) Kp + kd s Block Diagaram
- 13. • Hence the T.f is , C(s) G(s) R(s) 1 + G(s)H(s) = = (Kp s + Ki)ωn² s² + 2ωn(ξ+kdωn )+Kp ωn² 2 C(s) R(s)
- 14. mathematical expression for P-I-D Controller m(t)=Kpe(t)+ ki ∫e(t)dt+ Kd 𝑑 𝑑𝑡 e(t)+m0 Now take laplace M(s)=KpE(s) +Ki Es +Kd sE(s)+M0 s PID Controller
- 15. Kp Kd s Ki/s ωn²/s(s+2ξωn) R(s) - + + + C(s) Kp+ Kd s+ Ki/s Block-Diagram
- 16. Hence the T.f is , C(s) G(s) R(s) 1 + G(s)H(s) = C(s) (Kds²+kps+ki) ωn² R(s) 𝑆3 + (2ξωn+kdωn² ) s²+Kp ωn²s =