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0.3
(1)
1+.25S
0.4
(2)
1+7.5S
0.3
(3)
1+.4S
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The controller attempts to minimize the error by adjusting the process control inputs. The PID controller calculation
algorithm involves three separate constant parameters, and is accordingly sometimes called three-term control: the
proportional, the integral and derivative values, denoted P,I, and D. Heuristically, these values can be interpreted in
terms of time: P depends on the present error, I on the accumulation of past errors, and D is a prediction of future
errors, based on current rate of change. The weighted sum of these three actions is used to adjust the process via a
control element.
Tuning the parameters of a PID controller is very important in PID control. Ziegler and Nichols proposed the wellknown Ziegler-Nichols method to tune the coefficients of a PID controller. This tuning method is very simple, but
cannot guarantee to be always effective.
The PID control scheme is named after its three correcting terms, whose sum constitutes the manipulated variable
(MV). The proportional, integral, and derivative terms are summed to calculate the output of the PID controller.
Defining as the controller output, the final form of the PID algorithm is:
= +
Where
()
(4)
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Where U is the sequences of inputs & Q;R are the weight matrices.
Our optimization problem thus becomes:
Min
1
((
+ ()
.
Although more than one optimal control input is computed, only the first computed control move is implemented. At
the next sampling time k + 1, new measurements are obtained from the plant and the optimization problem is solved
again. Both the control horizon m and the prediction horizon p move or recede ahead by one step as time moves ahead
by one step. This is the reason why MPC is also sometimes referred to as Receding Horizon Control (RHC) or Moving
Horizon Control (MHC). The purpose of taking new measurements at each time step is to compensate for unmeasured
disturbances and model inaccuracy both of which cause the system output to be different from the one predicted by the
model.
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0.6
0.5
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0.1
0
10
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time in sec
40
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60
2.5
speed in rpm
1.5
0.5
20
40
60
80
Time in sec
100
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160
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1.6
1.4
Speed in rpm
1.2
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Time insec
50
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1.2
Speed in rpm
0.8
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0.2
10
15
20 Time (sec)
25
30
35
40
45
50
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