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ASSIGNMENT 4
NAME
(2014227494 )
( 2014629738 )
1. METHODS
i.
G(S)
Ke
s+ 1
3e
s+3
1.5 s
G(S)
Pu 2(1.5)
=
Pu
tan
2( 3.142)
0.33
Pu
For
Pu
(Pu 2)
= 2 tan
Pu
= 41.159
Kcu
Pu
2
k k cu ) 1
(
2
41.159
2
( 1k cu ) 1
(0.333) =
2( 3.142)
Kcu
= 1.0013
1e1.5 s
1 /3+1
c. Then the value of Kcu and Pu were inserted to the ZieglerNichols formula
KCu
P
PI
0.5kcu
0.45kcu
Pu
1.2
PI
D
0.6kcu
Pu
2
Pu
8
KCu
P
PI
0.5006
0.4005
PI
D
0.6008
34.299
2
20.579
5
5.1559
Manual tuning was done for the PI controller and the value
of P and I inserted in the controller are 0.1625 and 0.3215
respectively.
ii.
kc =
1
(
)
k + c
b. The selection of
iii.
Ziegler-Nichols
ii.
Direct Synthesis
iii.
iv.
It can be seen in the results that different method of controller tuning will produce a
different type of response from the same transfer function that is being used. This
difference is caused by the equation used by every method that eventually
produces a different value and different response. By using Ziegler-Nichols method,
the response overshoot is very sharp spike and reach the set point which indicate
that the time constant is very short and it can be considered as fast response. The
response using this method also sees that the stability is reached quite quickly.
The second method that is being used is the Direct Synthesis method, Direct
synthesis methods are based upon prescribing a desired form for the systems
response and then finding a controller strategy & parameters to give that response.
There are three options of process response that can be seen that are separated by
the used of P, PI or PID controller of the block diagram. The process response that is
considered most suitable is the option 2 response, as it has the lowest overshoot
and reaches stability in short period of time.
The next method is Internal Model Control (IMC), The IMC philosophy relies on the
internal model principle, which states: Accurate control can be achieved only if the