ELE 639 Lecture Notes - Lecture 9: Frequency Response, Loop Gain, Pid Controller

• School: Ryerson University
• Department: Electrical Engineering
• Course: ELE 639
• Professor: Zymo

Document Summary

One of the most versatile controller configurations for simple single feedback loop control is a pid controller. We already became familiar with the various forms of this controller both in the lab as well as in two previous. Chapters, where we utilized the top-down design approach to finding the controller gain values, based on the understanding of the second order model and the effects of additional poles and zeros on the system response. In this chapter we will further discuss the properties of the three-mode controller (pid), including some of its practical aspects. Figure 9-1: basic unit feedback closed loop system under pid control (parallel structure) The three-mode-controller name (pid) stands for proportional + integral + derivative. Its parallel configuration is realized as follows: (cid:3005)(cid:4666)(cid:1871)(cid:4667)=(cid:3043)+(cid:1871)+(cid:3031)(cid:1871) (cid:1873)(cid:4666)(cid:1872)(cid:4667)=(cid:3043) (cid:1857)(cid:4666)(cid:1872)(cid:4667)+ (cid:1857)(cid:4666)(cid:1872)(cid:4667)(cid:1856)(cid:1872)+(cid:3031)(cid:1856)(cid:1857)(cid:4666)(cid:1872)(cid:4667)(cid:1856)(cid:1872) Equation 9-1 where e(t) is error, and u(t) is the controller output, actuating the process.