Difference between revisions of "CDS 101/110 - PID Control"

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(Overview)
 
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{{cds101-fa07}}
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{{cds101-fa08 lecture|prev=Loop Shaping|next=Robust Performance}}
  
 
{{righttoc}}
 
{{righttoc}}
 
== Overview ==
 
== Overview ==
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The learning objectives for this week are:
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* Students should be to design a PID controller that satisfies a frequency domain performance specification
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* Students should understand the limitations imposed by actuator saturation and implement a simple anti-windup compensator
  
'''Monday:'''  PID Overview ({{cds101 handouts|L8-1_pid.pdf|Slides}}, {{cds101 mp3|cds101-2007-11-19.mp3|MP3}})
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'''Monday:'''  PID Overview ({{cds101 handouts|L9-1_pid.pdf|Slides}}, {{cds101 mp3|cds101-2008-11-24.mp3|MP3}})
  
This lecture covers the basic tools in frequency domain control design using proportional + integral + derivative (PID) control. After reviewing the role of the controller on the loop shape and the relationship between the gain and the phase, we introduce PID control and illustrate its use to design a speed controller that satisfies a given set of performance specifications.
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This lecture covers the basic tools in frequency domain control design using proportional + integral + derivative (PID) control. We compare the PID controller to loop shaping designs (such as lead compensation) and show how to obtain initial PID gains using Ziegler-Nichols tuning rules.  The issues of windup and anti-windup compensation are briefly discussed.
  
* {{cds101 handouts|L8-1_pid_h.pdf|Lecture handout}}
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* {{cds101 handouts|L9-1_pid_h.pdf|Lecture handout}}
* MATLAB: {{cds101 matlab|L8_1_pid.m}}
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* MATLAB: {{cds101 matlab|L9_1_pid.m}}
  
'''Wednesday:''' PID Analysis ({{cds101 handouts|L8-2_pid2ss.pdf|Notes}}, {{cds101 mp3 placeholder|cds101-2007-11-21.mp3|MP3}})
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'''Wednesday:''' PID Implementation ({{cds101 handouts|L9-2_implement.pdf|Notes}}, {{cds101 mp3|cds101-2008-11-26.mp3|MP3}})
  
This lecture provides more details on the use of PID control, including the representation of PID controllers in state space.  The problems of windup and saturation are also discussed.
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This lecture provides more details on the implementation of PID control, including the representation of PID controllers in state space.  The problems of windup and saturation are also discussed.
  
* {{cds101 handouts|L8-2_pid2ss.pdf|Lecture notes}}
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* {{cds101 handouts|L9-2_implement.pdf|Lecture notes}}
  
 
'''Friday:''' no class (Thanksgiving break)
 
'''Friday:''' no class (Thanksgiving break)
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== Reading ==
 
== Reading ==
  
* {{AM07|Chapter 10 - PID Control}}
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* {{AM08|Chapter 10 - PID Control}}
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** CDS 101: Read sections 10.1, 10.3 [30 min]
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** CDS 110: Read sections 10.1, 10.3-10.5 [45 min]
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** CDS 210: AM08 10.1, 10.3, DFT Ch 6 [90 min]
  
 
== Homework ==
 
== Homework ==
  
* {{cds101 handouts|hw7.pdf|Homework #7}}
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* {{cds101 handouts placeholder|hw8.pdf|Homework #8}}
 
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This homework set provides practice in specification and design of control systems in the frequency domain using PID control. The first two problems work through examples similar to the ones used in lecture. The third problem, for CDS 110 students, explores the use of PID control to give a desired level of performance for a simplified balance system.
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<!-- Links to homework materials -->
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* Useful MATLAB commands
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** sisotool - display standard linear system plots on a single screen
 
** sisotool - display standard linear system plots on a single screen
 
** feedback - generate a closed loop system from a loop transfer function
 
** feedback - generate a closed loop system from a loop transfer function
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== FAQ ==
 
== FAQ ==
 
'''Monday'''
 
'''Monday'''
<ncl>CDS 101/110 FAQ - Lecture 8-1, Fall 2007</ncl>
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<ncl>CDS 101/110 FAQ - Lecture 9-1, Fall 2008</ncl>
 
'''Wednesday'''
 
'''Wednesday'''
<ncl>CDS 101/110 FAQ - Lecture 8-2, Fall 2007</ncl>
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<ncl>CDS 101/110 FAQ - Lecture 9-2, Fall 2008</ncl>
 
'''Homework'''
 
'''Homework'''
<ncl>CDS 101/110 FAQ - Homework 7, Fall 2007</ncl>
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<ncl>CDS 101/110 FAQ - Homework 8, Fall 2008</ncl>

Latest revision as of 05:59, 9 December 2008

CDS 101/110a Schedule Recitations FAQ ()

Overview

The learning objectives for this week are:

  • Students should be to design a PID controller that satisfies a frequency domain performance specification
  • Students should understand the limitations imposed by actuator saturation and implement a simple anti-windup compensator

Monday: PID Overview (Slides, MP3)

This lecture covers the basic tools in frequency domain control design using proportional + integral + derivative (PID) control. We compare the PID controller to loop shaping designs (such as lead compensation) and show how to obtain initial PID gains using Ziegler-Nichols tuning rules. The issues of windup and anti-windup compensation are briefly discussed.

Wednesday: PID Implementation (Notes, MP3)

This lecture provides more details on the implementation of PID control, including the representation of PID controllers in state space. The problems of windup and saturation are also discussed.

Friday: no class (Thanksgiving break)

Reading

  • K. J. Åström and R. M. Murray,, Princeton University Press, 2008..
    • CDS 101: Read sections 10.1, 10.3 [30 min]
    • CDS 110: Read sections 10.1, 10.3-10.5 [45 min]
    • CDS 210: AM08 10.1, 10.3, DFT Ch 6 [90 min]

Homework

  • Homework #8
    • sisotool - display standard linear system plots on a single screen
    • feedback - generate a closed loop system from a loop transfer function

FAQ

Monday

Wednesday

Homework