Professional Documents
Culture Documents
Schematic Parameter Parameter V N K K1 A Ra Ja Da Kb Kt N1 N2 N3 JL DL Configuration 1 10 10 100 100 8 0.02 0.01 0.5 0.5 25 250 250 1 1 Configuration 2 10 1 150 150 5 0.05 0.01 1 1 50 250 250 5 3 Configuration 3 10 1 100 100 5 0.05 0.01 1 1 50 250 250 5 3
From the schematic diagram above, we can draw the block diagram.
There are many variables used in the following sections to represent significant inputs, outputs, signals etc. Parameter V N K K1 A Ra Ja Da Kb Kt N1 N2 N3 JL DL Value
10 10 100 100 8 0.02 0.01 0.5 0.5 25 250 250 1 1 Schematic Parameters
SOLUTION:
The input and feedback potentiometer each have an associated transfer function, in the form of a gain. The potentiometer changes the input angle, ( ) to a voltage, ( ). This ratio is described by the value Kpot. By neglecting the dynamics of potentiometers the relationship between the output voltage and the input angular displacement is given by: ( ) ( )
The dampening and inertial components of the antenna are adjusted by the gear ratios, as
is ( ) ( )( )
is: ( )( )
( )(
From the relationship between the motor and load, we can relate the variables Km, and am:
) (
( )
( ) ( )
( ( (
) )( ) )
( ) ( )
( ) ( )
)(
( ) ( ) Block diagram parameter: Parameters Value 0.318 100 2.083 100 1.71 0.1
( ) ( ) ( )
( )
( ) (
( ) ( )
( ) ) ( )
=(
) (
=(
( ) (
)( )( ) (
)( )( )(
)(
) )( )( )
assuming K=1
)(
( )
( )
Transfer function:
( ) ( )
Gc (S) S(sss
G(s)
Find the transfer function for PID controller: ( ) Substitute the value of ( )
in transfer function:
( ) ( )
( ) ( )
) ( )
( ) ( )
Characteristic equation: ( )
( )
Tu =
= 0.48
For PID Controller: KP 0.6 Ku 0.6(2620.52) 1572.312 Ti 0.5 Tu 0.5(0.48) 0.24 Td 0.125 Tu 0.125(0.48) 0.06 Tp 0.85Tu 0.85(0.48) 0.408
Gc (s) = KP (1 +
+ Td s)
= 1572.312 (1 + = 1572.312 +
+ 0.06s) + 94.34s
(s)
Gc (s)
G(s)
( ( ) (
) )
) (
Requirement for the system is Peak Time must be less than 0.5 sec.
Percentage overshoots:
Transfer function:
( ) ( )
DISCUSSION In many applications the PID controller can do the job - but as usual, with compromises. After a short intro to the PID terms and an example control system, you'll get a chance tune a PID controller. Tuning a system means adjusting three multipliers Kp, Ki and Kd adding in various amounts of these functions to get the system to behave the way you want. The table below summarizes the PID terms and their effect on a control system.