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notaPID.pdf

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11t6t2014 Contents L. lntrod uction 2. Deflnition of P, I and D in contrnller design 3. ?, Pl, and PID ideal controller structure 4.. Determinaticn *f R PI, PID pararneter using open-lcap nrethod. 4.1 Ziegler Nichols Tuning rules 4.2 Cahen Coon Tunlng Forn:ulae 4.3 Determination nf process Gair'!, K, Time ecnstant, and Time Delay using Frmcess Reactian Curve 4.4 Exannple PID controller {ZN} 5. Suggestlon rl6l2a14 . The objective of control system design and implementation is to regulate
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  11t6t2014 Contents L. lntrod uction 2. Deflnition of P, I and D in contrnller design 3. ?, Pl, and PID ideal controller structure 4.. Determinaticn *f R PI, PID pararneter using open-lcap nrethod.4.1 Ziegler Nichols Tuning rules 4.2 Cahen Coon Tunlng Forn:ulae 4.3 Determination nf process Gair' , K, Time ecnstant, and Time Delay using Frmcess Reactian Curve 4.4 Exannple PID controller {ZN} 5. Suggestlon  rl6l2a14 . The objective of control system design and implementation is to regulate the value of certain variables at the desired value intended to meet certain specification such as environment emission restrictions, maintainproduct quality and comply with certain safety guideline . Two general approaches in designing controller namely: a) TraditionalaPProach r controller setting or tuning is carried out after the controller is being installed at the Plant b) Model based aPProach . Consist several step as shown in Figure 1 What your have learn this semester? ' - ' J> . Mahematical model based on fust principle approach.No*es: Enrpirical aPProach.'ARX, ARMNL NARX, NARMAX, FOPDT,SOPDTandmanY moreWhat your will learn this semester? '-' I o kad-lagcompensator.P, PI and PID Figure 1: Model based conkol desiP DsnloD mth.mdol ecu.don fur tlE stem {n/ro&[tt31 -HEt prhch.l -Empki6l-sffii-Emparh.l 2  fit62414 . P Pl, and PID is the most well known feedback controller. . PID controller, PID is the most controller used in industry. The survey of more than 11SO controller in industries, indicated that more than 97% of industry used PID controller feedback algorithm. . Why choose PID controller. - The popularity of PID controller among industry sector is due to its simplicity that caused this controller easily to understand by controt engineer and able to providesatisfactory performance in wide range of practical situation. - Moreover, the plD controller combined allthree controller action which is proportionalaction, p (present element), integral action, I {past element) and derivative action, D (future element). These combination caused PID has capability in providing zero steadystate error due to integral action and able to predict the future due to derivative action. . Proportionalterm (presentelement) To speed up the closed loop response. The proportional term minimizes but does not eliminate the steady state error or offset. . lntegralterm (Past element) To eliminates the offset or steady state error. This term also speed up the system response but at cost of sustained oscillations. . Derivative term (Future element) The introduction of derivative action means that changes in the desired value may be anticipated and thus an appropriate correction may be added prior to the actual change. 3  11t6t2014 3. ldeat Structure of P, Pl, and PID controller 4

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Jul 23, 2017
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