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Introduction to PID Controller

The document provides an introduction to PID controllers, detailing the characteristics and effects of Proportional (P), Integral (I), and Derivative (D) controls on system performance. It emphasizes the importance of tuning these parameters to achieve desired system responses while suggesting that not all controllers need to be implemented if simpler combinations suffice. Tips for designing a PID controller are also included, highlighting the iterative process of adjusting control parameters based on system response.

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4 views

Introduction to PID Controller

The document provides an introduction to PID controllers, detailing the characteristics and effects of Proportional (P), Integral (I), and Derivative (D) controls on system performance. It emphasizes the importance of tuning these parameters to achieve desired system responses while suggesting that not all controllers need to be implemented if simpler combinations suffice. Tips for designing a PID controller are also included, highlighting the iterative process of adjusting control parameters based on system response.

Uploaded by

dreamrelax48
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Automation and Control Lab

IE 0906544

Lecture 4: Introduction to PID Controller

Dr. Eng. Baha’eddin Alhaj Hasan


Department of Industrial Engineering
Introduction
Introduction
PID Controller
PID Controller
P - Controller
D- Controller
D- Controller
D- Controller
PD- Controller
PD- Controller
I - Controller
I - Controller
PI - Controller
PID - Controller
The Characteristics of P, I, and D controllers

A proportional controller (Kp) will have the effect of reducing the


rise time and will reduce, but never eliminate, the steady-state
error.

An integral control (Ki) will have the effect of eliminating the


steady-state error, but it may make the transient response worse.

A derivative control (Kd) will have the effect of increasing the


stability of the system, reducing the overshoot, and improving the
transient response.
Proportional Control
By only employing proportional control, a steady state error
occurs.

Proportional and Integral Control


The response becomes more oscillatory and needs longer to
settle, the error disappears.

Proportional, Integral and Derivative Control


All design specifications can be reached.
The Characteristics of P, I, and D controllers

CL RESPONSE RISE TIME OVERSHOOT SETTLING TIME S-S ERROR

Kp Decrease Increase Small Change Decrease

Ki Decrease Increase Increase Eliminate

Kd Small Change Decrease Decrease Small Change


Tips for Designing a PID Controller

1. Obtain an open-loop response and determine what needs to be improved


2. Add a proportional control to improve the rise time
3. Add a derivative control to improve the overshoot
4. Add an integral control to eliminate the steady-state error
5. Adjust each of Kp, Ki, and Kd until you obtain a desired overall
response.
Lastly, please keep in mind that you do not need to implement all three
controllers (proportional, derivative, and integral) into a single system, if not
necessary. For example, if a PI controller gives a good enough response (like the
above example), then you don't need to implement derivative controller to the
system. Keep the controller as simple as possible.

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