PID Controller
Implements a PID controller
Category: Dynamics
Description:
The PID Controller block can be used to simulate control systems in
QFIRE Studio
. The block receives an error input signal and, as response, outputs a control signal. The equation below defines the behavior of the block:Where:
- : Proportional Gain.
- : Interal Action Gain.
- : Derivative Action Gain.
- : Simulation Time Step.
- : Error Signal.
- : Control Signal.
Application Example
Figure 1 shows a diagram using a PID Controller block. This system is from [1] and the plant transfer function is:
Figure 1 - System using PID Controller block
The controller gains were defined as:
Figure 2 - PID Controller dialog
In Figure 3, it is possible to compare the action of the PID Controller in the system.
Figure 3 - Step response of the systems
Bibliographic References
[1] - Katsuhiko Ogata, Modern Control Engineering, Fourth Edition, Delhi: Pearson, 2003.
Parameters:
The user can use this block in the following modes:
- PID - Proportional, Integral, and Derivative control actions
- PI - Proportional and Integral control actions
- PD - Proportional and Derivative control actions
Each of which may be more appropriate for a given application.
Proportional gain used in the PID controller equation. This value is multiplied by the input signal to produce the proportional control action
Integral gain used in the PID controller equation. This value is multiplied by the numerical integration of the input signal to produce the integral control action.
Derivative gain used in the PID controller equation. This value is multiplied by the numerical derivative of the input signal to produce the derivative control action.
Ports:
Input
The signal flowing into this port is the error signal used in the PID controller equation to calculate the control signal.
Data Types:
Output
The signal flowing from this port is the result of the PID controller equation, i.e. the control action.
Data Types:
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