自动控制实验6 PID Control Using MATLAB Simulation.pptVIP

2006/8/1 Y.R. Hwang Auto. Control Lab.6 Lab6： PID Control Using MATLAB Simulation 黃衍任 Proportional-Integral-Derivative (PID) Control PID可以改善系統的暫態響應及穩態誤差 提高增益可以降低穩態誤差,但會增加overshoot ratio 降低增益會降低overshoot ratio ,但會增加穩態誤差 PID by MATLAB Implement Example 1 – P control Consider a system with transfer function T=10K/[(?1*?2)s^2+ (?1+?2)s+1+AK] PID by MATLAB Implement Example 2 – PI control Consider a system with transfer function T=(K*S+Ki)/[S^3+ 3*S^2+(2+K)*S+Ki] Ziegler-Nichols Tuning of PID Regulators J. G. Ziegler and N. B. Nichols recognized that the step responses of a large number of processes control systems exhibits a process reaction curve. two methods Method One ：decay ratio 0.25 指令 series(sys1,sys2) [num,den]=series(num1,den1,num2,den2) feedback(sys1,sys2) 若負迴受sys2=1 [num,den]=feedback(num1,den1,1,1,-1) Example3 T=2/[(S+2)*(0.18*S^2+0.6*S+1)] With L=0.38;R=1; Example3 Example3-結果 two methods Method Two：依據終極靈敏度法調整 系統方塊圖如下，K=Ku，為比例控制器，輸出產生的震盪週期為Pu Method One Method Two Method One: Method Two: GUI介面-簡介 Graphical User Interface 在視窗上打入 guide GUI介面 出現GUIDE Quick Star 視窗 GUI介面-編輯視窗 出現編輯視窗 GUI介面-建立圖形區域及按鈕 GUI介面-編輯程式 GUI介面-執行 GUI介面-結果 Homework 1.利用m file撰寫下列方塊圖，show出當K=10與80之輸出響應圖，模擬時間0~3 sec.  2.利用Ziegler-Nichols tuning針對Plant設計PID控制器 * * K + － In Put K = 20， overshoot = 1.67 穩態誤差 = 0.008 K = 5， overshoot = 1.43 穩態誤差 = 0.016 K = 1， overshoot = 1.04 穩態誤差 = 0.089 － I/P + K = 10， Ki = 5 穩態誤差 = 0.003 K = 1， Ki = 1 穩態誤差 = 0.001 K = 1， Ki = 0 穩態誤差 = 0.667 Y(S) U(S) Kp G(S) + － G(S) + － 原始系統 P-control PI-control PID-control * * *