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Advanced PID and Lead Controller Design Exercises

Join Professor Walter W. Olson from the University of Toledo Department of Mechanical, Industrial, and Manufacturing Engineering for practice in PID and lead controller designs, including Ziegler-Nichols methods and root locus techniques.

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Advanced PID and Lead Controller Design Exercises

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  1. Lecture 27a: Problem Session Professor Walter W. Olson Department of Mechanical, Industrial and Manufacturing Engineering University of Toledo

  2. Exercise 1: 1st Order ZN PID Design • Design a PID controller for the system with a step response below: (lines on next slide)

  3. Exercise 1: 1st Order ZN PID Design • Design a PID controller for the system with a step response below:

  4. Exercise 1: 1st Order ZN PID Design

  5. Exercise 2: Oscillatory ZN PID Design • Design a PI Controller for the following system (Kcr=10):

  6. Exercise 2: Oscillatory ZN PID Design • Design a PI Controller for the following system (Kcr=10): 9 complete cycles in 19 sec

  7. Exercise 3: Lead Design (Root Locus) • Design a lead controller for the open loop system below with unity feedback which will result in a damping ratio of 0.36 while reducing the 5% settling time by 50% Part 1: where would you like to see the closed loop poles?

  8. Exercise 3: Lead Design (Root Locus) Part 1: where would you like to see the closed loop poles? Part 2: Placing a zero and a pole

  9. Exercise 3: Lead Design (Root Locus) Part 2: Placing a zero and a pole Try a zero at -1 and a pole at -10: Need to bend the curve up more

  10. Exercise 3: Lead Design (Root Locus) Part 2: Placing a zero and a pole Try a zero at -1 and a pole at -15: Closer…

  11. Exercise 3: Lead Design (Root Locus) Part 2: Placing a zero and a pole Try a zero at -1 and a pole at -18: Very close: Could fine adjust more Accepting this controller:

  12. Exercise 4: Lead Design (frequency) • For the following system, increase the static velocity error 2.0/sec with a phase margin of 50o:

  13. Exercise 4: Lead Design (frequency) • For the following system, increase the static velocity error 2.0/sec with a phase margin of 50o:

  14. Exercise 4: Lead Design (frequency) • For the following system, increase the static velocity error 2.0/sec with a phase margin of 50o:

  15. Exercise 4: Lead Design (frequency) • For the following system, increase the static velocity error 2.0/sec with a phase margin of 50o:

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