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PID Tuner

This document contains code that defines a transfer function model and calculates the parameters for a proportional-derivative (PD) controller for that model. It first defines the plant transfer function, then calculates convolution products to determine the PD controller parameters. It expresses the controller as a transfer function and validates it using a PID tuning tool.

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nikolay molano
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45 views2 pages

PID Tuner

This document contains code that defines a transfer function model and calculates the parameters for a proportional-derivative (PD) controller for that model. It first defines the plant transfer function, then calculates convolution products to determine the PD controller parameters. It expresses the controller as a transfer function and validates it using a PID tuning tool.

Uploaded by

nikolay molano
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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%Num=[37.58 0 1.

294e-13]
Num=-1.29*10e-13

Num = -1.2900e-13

Den=[1 0 26.74 0 9.2*10e-14];


sys=tf(Num,Den)

sys =

-1.29e-13
-------------------------
s^4 + 26.74 s^2 + 9.2e-14

Continuous-time transfer function.

z=0.7;
ts=4;
wn=4.6/(ts*z);
pd1=conv([1 2*z*wn wn^2],[1 2*z*wn wn^2]);
pd=conv(pd1,[1 5*wn*z])

pd = 1×6
1.0000 10.3500 37.1380 73.8711 78.6725 41.8858

pc=[Den 0]

pc = 1×6
1.0000 0 26.7400 0 0.0000 0

Kd3=(pd(2)-pc(2))/Num

Kd3 = -8.0233e+13

Kd2=(pd(3)-pc(3))/Num

Kd2 = -8.0604e+13

Kd1=(pd(4)-pc(4))/Num

Kd1 = -5.7264e+14

kp=(pd(5)-pc(5))/Num

kp = -6.0986e+14

ki=(pd(6)-pc(6))/Num

ki = -3.2470e+14

Gc=pidtune(sys,"PD")

Gc =

Kp + Kd * s

1
with Kp = -6.51e+14, Kd = -2.76e+14

Continuous-time PD controller in parallel form.

pidTuner(sys,Gc)

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