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Proportionalderivativeintegral Pid Control4998

This document discusses proportional-integral-derivative (PID) controllers. PID controllers are commonly used in control systems as they can control processes with three separate parameters: proportional, integral and derivative. The proportional value determines the reaction to the current error, the integral value accounts for accumulated past errors, and the derivative value determines the reaction based on the rate of change of the error. Tuning the values of each parameter involves adjusting them to reduce overshoot and oscillation in the system. PID controllers are useful for applications like speed control, temperature regulation and autopilots.

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Matthew
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41 views16 pages

Proportionalderivativeintegral Pid Control4998

This document discusses proportional-integral-derivative (PID) controllers. PID controllers are commonly used in control systems as they can control processes with three separate parameters: proportional, integral and derivative. The proportional value determines the reaction to the current error, the integral value accounts for accumulated past errors, and the derivative value determines the reaction based on the rate of change of the error. Tuning the values of each parameter involves adjusting them to reduce overshoot and oscillation in the system. PID controllers are useful for applications like speed control, temperature regulation and autopilots.

Uploaded by

Matthew
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Proportional-Integral-Derivative

Controller
Presented by: Sancho McCann
Simple Control Loop

Control Plant Feedback


Examples

Control Plant Feedback

Throttle Auto-engine Wheel speed

Air temp Room temp Thermostat temp

Steering direction Car Distance from path

Voltage Electric motor Fan speed

Fan speed CPU temp CPU temp sensor


Speed control: lookup table
10 kph 3% Throttle

20 kph 6% Throttle

40 kph 20% Throttle

80 kph 50% Throttle

140 kph 100% Throttle


What to do?

Goal (set-point): 21 kph

How much should you change your throttle?


What to do?

Set-point: 80 kph

How much should you change your throttle?


Proportional Controller
• Far from set point? Change throttle more
• Close to set point? Change throttle less

"control = (setpoint # currentState) • pGain

!
Example
Proportional-Derivative Control
• Approaching set point quickly? Ease off
throttle.

pTerm = (setPoint " currState) • pGain


dTerm = (prevState " currState) • dGain
#control = pTerm + dTerm

!
Example
Problem with Derivative Term

Enhances noise
Integral Term
• Helps state average around the set point

• Accumulate historic error


• Allow this integral to inform the control
decision
Examples
Extremes
• What if
– P term is too low?
– P term is too high?
– D term is too low?
– D term is too high?
– I term is too low?
– I term is too high?
Tuning (one manual method)
• Start with low pGain (< 1)
• Set dGain ~ 100x pGain
• Increase dGain until oscillation
– Halve until no oscillation reduced
• Increase pGain until oscillation
– Halve that value
• Set iGain very low and increase until a
small overshoot is noticeable
Can be complex: Autopilot

Heading Roll Aileron

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