PID Control. Professor Walter W. Olson Department of Mechanical, Industrial and Manufacturing Engineering University of Toledo. Outline of Today’s Lecture. Review Margins from Nyquist Plots Margins from Bode Plot Non Minimum Phase Systems Ideal PID Controller Proportional Control
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PID Control
Professor Walter W. Olson
Department of Mechanical, Industrial and Manufacturing Engineering
University of Toledo
1
Magnitude, dB
0
Positive Gain Margin
w
Phase, deg
180
Phase Margin
w
Phase Crossover Frequency
Stability
margin, sm
Based on a survey of over eleven thousand controllers in the refining, chemicals and pulp and paper industries, 97% of regulatory controllers utilize PID feedback.
L. Desborough and R. Miller, 2002 [DM02].
+
+
+

+
+
+
+

+
Y(s)
R(s)
+
+
+

+
kp=7.2
}
Error
Also: the response time is poor
+
+
+
+
+
Y(s)=a(s)
R(s)
0.139
1
Y(s)
R(s)
+
+
+

+
Response time
improved with
no error
Rise
Time
T
Lag L
Rise
Time
T
Lag L
1
Cycle
Pcr
k=1000
k=1500
k=1750
k=2000
1
Cycle
Pcr
17.8
Kcr=1875
1.0
1
Cycle
Pcr
17.8
Kcr=1875
1.0
Next Class: PID Controls Continued