1

TALLER: PID Control, ADRC

Carlos Hernández, Jaisson Forero
Facultad de Ingenierı́a Electrónica, Biomédica y Mecatrónica
Universidad Antonio Nariño
Sede Bogotá

P
1) A synchronous generator selected to an infinite bus can X3 = n1 sin X1
be represented: 1
Ẋ3 = τ (−n2 + n3 cos X1 + Ef d)

0 = τ1 (−n2 X3 + n3 cos X1 + Ef d)
M δ̈ = P − Dδ̇ − n1 Eq sin δ (1)
τ Ėq = −n2 Eq + n3 cos δ + Ef d (2) 0 = −n2 X3 + n3 cos X1

• δ = Angle cos X1 = n2 X3
n3
• Eq = Voltage
• P = Perturbation ⇓
• Efd = Input
n2 P
• D= Damping coefficient cos X1 = n1 sin X1
n3
• τ = Constant time 1

• n1 ,n2 ,n3 = Constants cos X1 = n2 P

n1 n3 sin X1

n2 P
A. Using δ, δ̇ y Eq as state variables, find the state sin X1 cos X1 = n1 n3
equations
2,7∗0,815
X1 =δ Ẋ1 = X2 sin X1 cos X1 = 2∗1,7

2,2005
X2 = δ̇ Ẋ2 = 1
− n1 X3 sinX1 sin X1 cos X1 =
M (P DX2 ) 3,4

X3 = Eq Ẋ3 = τ1 (−n2 X3 ) + n3 cosX1 + Ef d sin X1 cos X1 (3, 4) = 2, 2005

         • Using the identity sin (nx) = (sin (x) cos (x))n

Ẋ1 0 1 0 X1 0 0
  
  
     
      −n X sin X +P  sin X1 cos X1 (3, 4) = sin X1 (3, 4)
D
Ẋ2 = 0
   −M 0  X2 + 0+  1 3
     M
1 

         sin X1 (3, 4) = 2, 2005
Ẋ3 0 0 − nτ2 X3 1 n3 cos X1
X1 = sin− 1 ( 2,2005
3,4 )
B. Find all equilibrium points
X1 = 40, 33
P=0,815 Efd=1,22 n1 = 2 n2 = 2, 7 n3 = 1, 7

D D
• Replacing on the equation found to X3
τ = 6, 6 M = 0, 0147 M =4⇒ 0,0147 =4
P
X3 = n1 sin X1
D=0,0588
0,815
X3 = 2∗sin 40,33
To find all the equilibrium points we have to match the
velocity vectors to zero ”0” X3 = 0, 63

Ẋ1 = X2 ⇒ 0 = X2

1 P n1 X3 sin X1
X2 = M (P − DX2 − n1 X3 sin X1 ) ⇒ 0 = M − M

0 = P − n1 X3 sin X1
 2

C. Design a PID controller for the linearized system such that 37,33X∞ + KpX∞ = Kpr
the closed loop system presents a settling time of 3 seconds
without damping. X∞ (37, 33 + Kp) = Kpr
• Linearize the system Kpr
X∞ = 37,33+Kp
 f f1 f1

δ X11 δ X δ X3 Kpr
 2
 e% = (r - X∞ ) ⇒ e% = r − 37,33+Kp
 
 f2 f2 f2 
δF (x) = δ X1 δ X2 δ X3 
  r = Step = 1
 
f3 f3 f3
δ X1 δ X2 δ X3 e% = 1 − Kp
⇒ 1− Kp
< 0, 05
37,33+Kp 37,33+Kp
 
0 1 0 37,33+Kp−Kp
< 0, 05
37,33+Kp
 
 −n3 X3 cos X1 −D −n1 sin X1 

δF (x) =  37,33
 X1 M M  0,05 > 37, 33 + Kp
 
−n3 sin X1 −n2
τ 0 τ 746, 6 > 37, 33 + Kp

• Replacing values and equilibrium points 746, 6 − 37, 33 > Kp

 
0 1 0 709, 27 > Kp
 
 
−55, 54 −4 −88, 052 Then... Kp = 710
 
 
0, 166 0 −0, 409
/+ / 710 + KDS / −88,0520 /Y
O
      
Ẋ1 0 1 0 X1 0 S 3 +4,4090S 2 +57,17S+37,33
      
o 
      
−55, 54 −4 −88, 052
 X2 +
Ẋ2 =   0U
    
      
Ẋ3 0, 166 0 −0, 409 X3 1 /+ / (710 + KDS) −88,0520 /Y
O S 3 +4,4090S 2 +57,17S+37,33

o 
X(s) −88,0520
U (s) = S 3 +4,4090S 2 +57,175S+37,33 (3)
(710+KDS)(−88,0520)
S 3 +4,4090S 2 +57,17S+37,33
(710+KDS)(−88,0520)
1+ S 3 +4,4090S 2 +57,17S+37,33
The transfer function found through the matlab function ss2tf
(710+KDS)(−88,0520)
S 3 +4,4090S 2 +57,17S+37,33
• Specif ications : S 3 +4,4090S 2 +57,17S+37,33+(710+KDS)(−88,0520)
S 3 +4,4090S 2 +57,17S+37,33
• Ts = 3 Sec
• Withouth dumping
(710+KDS)(−88,0520)
We usedan Proportional derivative ”PD” controller assuming S 3 +4,4090S 2 +57,17S+37,33+(710+KDS)(−88,0520)
an error less than 15%
S3 +4, 4090S 2 +57, 17S +37, 33+(710+KDS)(−88, 0520)
• P roportionalAction :
X(s)
S 3 + 4, 4090S 2 + (57, 17S − 88, 0520KD)S − 62451, 87
−88,0520 δ
U (s) = S 3 +4,4090S 2 +57,175S+37,33 ⇒ U = Kpe(t) + δt e(t) characteristic polynomial

We evaluate the ecuation in stationary state Now, we will find the proportional and derivative gains with
... the specifications previusly given, but first one we have to
X +4, 4090Ẍ∞ + 57, 17Ẋ∞ + 37, 33X∞ = Kp(r − find the dominant pole magnitude :
∞
X∞ ) + Kd(ṙ − Ẋ∞ ) 5 5 5 5
ts = ζwn → ts = |λdom| →3= |λdom| → |λdom| = 3
37,33X∞ = Kp(r − X∞ ) ⇒ 37, 33X∞ = Kpr − KpX∞
|λdom| = 1, 66
 3

(S + 1,66)(s + 2) ⇒ S 2 + 2S + 1, 66S3, 32

(S2 + 2S + 1, 66S3, 32)(S + 10) ⇒

S 3 + 10S + 3, 66S 2 + 36, 6S + 3, 52S + 33, 2

S 3 + 3, 66S 2 + 49, 92S + 33, 2

desired polynomial

then we substitute...

57,17 - 88,520KD = 49,92

-88,520KD = 49,92 - 57,17

−7,25
KD = −88,520

KD = 0,0819 KP = 710