P.I.


:

PID

P , I , D

P.I.D

) (


-
-
)
(

 - ) ( PLANT OR PROCESS

.
- )
( COMPARATOR
.
OR

DETECTOR

ERROR

- ) ( CONTROLLER



) ( PID PD PI P

.
.
- " " )
SESNSOR OR TRANSEDUCER ( ELEMENT















FEED BACK

 - ) ( MEASUREMENT

- ) ( DISCISION


- ) ( MANIPULATION

.




.

PNEUMATIC SYSTEM
HYDROLIC SYSTEM
DIGITAL CIRCUIT ELECTIC CIRCUIT
.


PID
:

P , I , D

P.I.D
:
)
(

STEP FEEDBACK

:
P
I . D

PLANT

) (

 CONTROLLER
.
) (
PID
KP

KI
KD

.
e ) ( R
) ( Y
) ( e P.I.D

) ( u
) ( KP ) ( KI
.
P.I.D

) ( u )
) ( Y .
) ( Y
) ( e
.
PLANT

I P
) ( KP ) (
RISE TIME STEADY_STATE
D

 ERROR )

KI

STEADY_STATE ERROR ) (
.
) ( KD
OVERSHOOT .
KI KD KP

-

KP

KI

KD

KD KI KP


. KD KP KI
:

MASS , SPRING AND DAMPER PROBLEM .


) X(S ) F(S

m = 1 kg
b = 10 n.s/m
k = 20 n/m
f(s) = 1

KP

KI

KD

) ( M-FILE
STEP FUNCTION

) (

; NUM = 1
; ] DEN = [ 1 10 20
; ) PLANT = TF ( NUM , DEN
) STEP ( PLANT

DC ) ( 1/20
0.05 UNIT STEP
0.95
1.5 .



) ( KP


KP = 300 ) ( M-FILE

; KP = 300
; CONTR = KP
; ) SYS_CL = FEEDBACK ( CONT * PLANT , 1
; T = 0 : 0.01 : 2
) STEP = ( SYS_CL , T

M-FILE

:
FEEDBACK

)
(


.

P.D

) ( KD
PD

KP = 300
FILE .

KD = 10

M-

; KP = 300

; KD = 10
; ) CONTR = TF ( [KD KP] , 1
; ) SYS_CL = FEEDBACK ( CONTR * PLANT , 1
; T = 0 : 0.01 : 2
) STEP ( SYS_CL , T

D P

.

) ( KI

KI = 70 KP = 30 )

M-FILE

; KP = 30
; KI = 70
; ) ]CONTR = TF ( [KP KI] , [1 0
; ) SYS_CL = FEEDBACK ( CONTR * PLANT , 1
; T = 0 : 0.01 : 2

) STEP ( SYS_CL , T

:
) ( KP ) ( KI
) ( .

.

P.I.D
P.I.D

.
) ( M-FILE

KP=350

KI=300

KD=50

; KP = 350
; KI = 300
; KD = 50

; ]NUM = [KD KP KI
;]DEN = [1 10+KD 20+KP KI
; T = 0 : 0.01 : 2
) STEP ( NUM , DEN ,T

.
) ( P.I.D
) ( P.I.D
.
-

-
-
-
- KD KI KP
-
.

KD KI KP
KI KP

 KD KP