EXPERMENT #9

TUNING AN ANALOG PID CONTROLLER

Aim of the Experiment

This experiment describes a new method for calculating proper values of the PID parameters Kp, Ti and Td, i.e. controller tuning.

4. Exprimental Setting for Tuning PID Controller Parameters

4.1 Experimental Setting for Step Response of a Permanent Magnet DC Motor Position

We found Tf = 0.35 sec.L = 0.2 Tf and T = 0.8 Tf

Kp = 4

0.9 * T / L (1+ 0.3/Ls)=Kp * (1+ 1 /Ti*s)Kp = 0.9 * 4 =3.60.3 / L = 1 /TiTi = 0.23 sec.

From the equation ;

We can write that ;0.6 *T*s^2 + 0.6 * T / L^2 + (2 /L) * 0.6 * T *s = Kp * s + Kp / Ti + Td * Kp *s ^2 If we equal the equation with respect to the s s order we can get the unknowns.0.6T=Td*Kp Td = 0.6 * 0.35*0.8 / Kp = 0.035 secKp = 1.2 *T / L = 1.2 * 4 = 4.8 0.6 *T / L ^2 =Kp /Ti Ti = 0.14 sec .

In 4.1 we have already found the gain value for p control and according to the gain value we got the results as an image.And the zero to the final position is too short . In 4.1 we have already found the gain value for p control and according to the gain value we got the results as an image.And the zero to the final position is too short .

In 4.1 we have already found the gain value for p control and according to the gain value we got the results as an image.And the zero to the final position is too short .

And the results are :