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PROGRAMMING EXERCISE 03 Zarelle and Chelo

This document discusses tuning a PID controller through trial and error to meet specific requirements for a transfer function. It describes modifying Kp, Ki, and Kd values to achieve critical damping and settle time within a given range while limiting overshoot. It also explains the roles of proportional, integral and derivative terms in achieving setpoint tracking, disturbance rejection and stability.

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Jeremiah Pua
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29 views

PROGRAMMING EXERCISE 03 Zarelle and Chelo

This document discusses tuning a PID controller through trial and error to meet specific requirements for a transfer function. It describes modifying Kp, Ki, and Kd values to achieve critical damping and settle time within a given range while limiting overshoot. It also explains the roles of proportional, integral and derivative terms in achieving setpoint tracking, disturbance rejection and stability.

Uploaded by

Jeremiah Pua
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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PROGRAMMING EXERCISE 03

DISCUSSION:

From the previous programming exercise, we have come up with a transfer function of
231.3188
G ( s )= 2 . Using this transfer function, we can get the values of its step response
s +6.412748+257.0209
characteristics, like settling time and overshoot, using MATLAB.

After obtaining the corresponding values of its step response characteristics, we programmed the
transfer function with a PID controller in order to satisfy the following given requirements in this
programming exercise 03:

1. Steady-state output is 1.2.


2. Critically damped.
3. Settling time is 4% to 10% of the plant settling time.
4. Overshoot is 25% to 33% of the plant overshoot.
5. Minimal implementation (use only absolutely necessary PID terms).

Names: Pua, Jeremiah Job S. BSME 4A


Delfin, Hurbie V.
With regards to these set of requirements, our goal is to obtain vales within the following :

Ts=( 1.2151 ) ( 4 % )=0.048604 TO Ts=( 1.2151 ) ( 10 % )=0.12151

%os=( 65.1853 )( 25 % )=16.296325 TO %OS=( 65.1853 ) ( 33 % )=21.511149


After programming the transfer function with the PID controller, with the given result, the set of values
to be obtained was not satisfied. So, in order to satisfy all the given requirements, we tuned the PID controller
through trial and error. We have started the trial-and-error using the obtained values of Kp, Ki, and Kd. As we
modified the values of Kp, Ki, and Kd individually, we observed their effects on the characteristic values of the
step response. As we have observed, changing the values of Kp, Ki, and Kd in a PID control system can have
various effects on the system's performance. Increasing Kp amplifies the response of the system to the error
between the desired setpoint and the actual output. Higher values of Kp can lead to faster response times, but
they may also introduce overshoot and oscillations. Conversely, reducing Kp can make the system more stable
but slower to respond. On the other hand, increasing Ki increases the contribution of the accumulated error over
time. This helps in reducing steady-state errors and improving the system's ability to reach and maintain the
setpoint. However, excessively high Ki values can lead to instability and oscillations. Meanwhile, increasing Kd
enhances the system's ability to anticipate and react to changes in the error rate. It helps in damping oscillations
and reducing overshoot. However, too high a Kd value can introduce noise amplification and make the system
more sensitive to measurement noise.

PID TUNING THROUGH TRIAL AND ERROR IN ORDER TO MEET SPECIFIC REQUIREMENTS
After a lot of trial and error, it may have taken us a long time, but we have arrived at a set of values for Kp, Ki,
and Kd. Finding the right balance between stability, responsiveness, and accuracy has led us to arrive at a set of
values that have met the given specific requirements.

CONCLUSION

A PID (Proportional-Integral-Derivative) controller stands out as a go-to choice in control systems for
meeting distinct requirements and securing desired performance outcomes. Understanding why this controller is
favored involves unpacking the fundamental traits of its three essential components.

Firstly, the proportional term in a PID controller responds proportionally to the error gap between the
desired setpoint and the actual output. It’s a direct matchmaker, reducing the persistent differences and amping
up the system's responsiveness. Tweaking this proportional gain enables us to fine-tune how the controller
reacts to errors.

Secondly, the integral term in the PID controller has a knack for integrating the error over time. This
steady work diminishes long-lasting errors from disturbances or inherent system biases. It’s a continuous
troubleshooter, persistently ironing out accumulated errors and ensuring the actual output is in lockstep with the
setpoint.

Lastly, the derivative term banks on the rate of error change. It’s like a crystal ball, helping foresee and
neutralize future error trends. By anticipating changes or surprises, it fortifies the system against sudden jolts,
contributing to stability and curbing overshoots and oscillations.

When these three elements team up, the PID controller becomes a Swiss army knife for a control
system, adept at tackling various demands:

Setpoint Tracking: It’s a master tracker, finely adjusting its proportional, integral, and derivative gears to
minimize errors, speed up responses, and ensure the system trails the setpoint precisely.

Disturbance Rejection: The integral aspect bulldozes steady-state disturbances, snapping the system
back to the setpoint pronto after a kerfuffle. Meanwhile, the derivative role helps muffle sudden shocks.

Stability: Picture the proportional and derivative pals as guardians of stability, calming down wobbles
and curbing wild swings. By tweaking the gains, the controller can maintain the desired stability levels.

Robustness: The PID controller isn’t a one-trick pony; it's adaptable. It tunes itself to handle shifting
system landscapes—like changes in loads or scenarios—by flexing its gains and staying on the performance
track.

In essence, the PID controller emerges as a versatile maestro in the control symphony. It’s the conductor
who tailors the performance to suit the specific requests—a precision artist managing accurate setpoint tracking,
disturbance resistance, stability, and adaptability. Its flexibility and knack for fine-tuning make it an
indispensable tool for control systems seeking precise, reliable, and agile performance.

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