Control and Instrumentation Continuous and discrete time PID control of DC motor
ID: 1766144 • Letter: C
Question
Control and Instrumentation Continuous and discrete time PID control of DC motor angular velocity PI and PID control are currently being applied to a wide variety of applications such as process control, motor speed and positsion control, robot control,control of power plants, automotive and aerospace applications etc Explain the strengths and limitations of PID control. In your answer, consider ease of implementation, stabilisation requirements, performance, robustness, energy consumption and steady state error. Provide one example of systems that can be controlled using PI methods and one example for which PID control is more adequate. Describe the control systems' inputs and outputs and the sensing/actuation methods used for the examples Describe two modern alternatives to PID control for slow processes and systems with uncertain parameters. Compare these control approaches with PID control. Explain the increasing need for discretisation in modern control applications. Explain how motor angular velocity control can be relevant to complex systems, such as control of humanoid robots. b) c) d) e) Note: Very good in-depth explanation needed and specify each question.Explanation / Answer
a)Implementation
One strength of implementing PID controllers is that they're comparatively simple to style & construct. The controller is associate degree MCU, a gate circuit or perhaps associate degree analogue circuit with elements such resistors & inductors. On the opposite hand, PID controllers need adequate and sensible sampling time to implement and it must be correct.
• inside a hundred and twenty fifth – use timer interrupt
• Not too quick – once there's variance in delta t
• Not too slow – once there's an excessive amount of lag time
• Sampling time changes relative result of P, I and D
b)Stabilisation necessities
CL RESPONSE
RISE TIME
OVERSHOOT
S-S ERROR
Kp
Decrease
Increase
Decrease
Ki
Decrease
Increase
Eliminate
Kd
Small amendment
Decrease
No Change
c) Performance
The performance of a sway system is gauged by however is it able to overcome the results of disturbances that is termed “disturbance rejection” of the system.
The spinoff term should have atiny low price, as a result of it will cause instability thanks to its sensitivity to noise & there ought to be very little oscillation even with disturbances.
The PID Controller’s reaction time or rise time should not be larger than a pair of of the ultimate price having associate degree unstable state. additionally, peak time speed should be comparatively or significantly quick to succeed in the height price of the system.
d) strength
Robustness is achieved once the PID Controller’s performance & stability mustn't be littered with not too huge variations in plant or the in operation conditions.
e) Energy consumption
PID controllers ar sensible for production industries, since a stable regulative system will increase profit by reducing harmful emissions and energy consumption therefore increasing the standard of the system.
f) Steady State Error
Steady-State error is that the final distinction in price between the point & the output of the method variable.
PID management terms ar wont to minimize error e(t) within the system over time and therefore the error rate (de/dt) ought to as tiny as attainable or till it is as near zero as attainable. The integral part sums the error term over time. Even atiny low error term can slowly build the integral part increase and can still increase unless this error is zero.
The limitation here is observed as integral windup, that happens once the integral action reaches saturation & doesn’t drive the error between the point variable towards zero any longer.
B ANS)
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