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Lecture 27a: Problem Session

Lecture 27a: Problem Session. Professor Walter W. Olson Department of Mechanical, Industrial and Manufacturing Engineering University of Toledo. Exercise 1: 1 st Order ZN PID Design. Design a PID controller for the system with a step response below: (lines on next slide).

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Lecture 27a: Problem Session

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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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