Scuola universitaria professionale della Svizzera italiana

Dipartimento Tecnologie Innovative

Mechatronics laboratory

Analog PID controller

Scope

- Modeling and parametric identication of a simple electrical circuit (LC lter) from its step response - Design and implementation of an analog PID controller with an electronic circuit based on a single operational amplier - Modelling and identication of the oscillating circuit - Design of the analog PID controller - Simulation of the closed-loop system - Dimensioning of the components of the electronic circuit implementing the PID controller - Verication with measurements on the board Analog PID controller, parametric identication 8 hours Board schematics Silvano Balemi

Tasks

Keywords Prerequisites References Time Appendices Contact

Mechatronics laboratory, Analog PID controller

SUPSI-DTI

Preparation

Analog control is slowly disappearing from industrial applications. However, there are cases when an analog PID controller still makes sense, in particular when an analog conditioning circuit has to be stabilized, when very high frequency bandwidth is required, or when the additional cost of a digital implementation is not justied by the additional functions obtained. In the present experiment the PID controller has to be designed and implemented in analog electronics using the circuit of gure 1.

Figure 1: Electronic circuit implementation of an analog PID controller In a second case, a more detailed choice of the values of the resistor and capacitance components is performed, based on the transfer function of the analog circuit used for implementing the PID controller.

2
2.1

Set-up
Necessary material External 18VDC power supply for the board Oscilloscope PCB board with analog PID controller

The PCB is composed of the following parts electronic circuit with PID controller (all resistor and capacitor components are to be mounted on sockets; see block diagram and electronic schematics in appendix and gure 1) electronic circuit with second-order lter simulating an LC-lter (see block diagram and electronic schematics in appendix)
2 Silvano Balemi academic year 2005/2006

SUPSI-DTI

Mechatronics laboratory, Analog PID controller

Modulation circuit for the voltage at the entrance of the LC circuit (see block diagram and electronic schematics in appendix) Other circuits for the connection of the PID controller and of the modulation circuit to external drivers and LC lter (see block diagram and electronic schematics in appendix) The PCB is supplied by an external 18V supply circuit through a standard two-pole connector.

Assignment tasks
1. Model an LC circuit with discrete components L, C and R (the coil resistor is responsible for the damping). The measurement is the capacitor voltage. 2. Measure the open-loop step response of the second order lter (congure the PID controller to provide just a proportional gain: do this by removing all capacitors and by choosing the resistor values in an appropriate way). From the measurement of the overshoot %OS, the ratio r of the peak values of two subsequent maxima of the oscillation and the oscillation period To use the relations 2 = = n 1 2 ; To r=e
To

=e

n To

log

%OS 100 %OS 100

2 + log2

to determine the lter transfer function G(s) =

2 K n K ( 2 + 2 ) = 2 2 s2 + 2 n s + n s + 2 s + 2 + 2

Note that the system poles j depend only on two parameters (see gure 2) thus only two of the above measurements are necessary. Which ones would you exploit in this case? Consider also that the resistive partitioner R59/R25 on the PCB is not active when the jumper JMP-Y at the ouput of the LC-lter is o. Then, the openloop gain of the second-order lter has to be reduced according to the resistive partitioner. 3. Determine the values L, C and R of the corresponding LC circuit from the transfer function just obtained. What can you conclude?
academic year 2005/2006 Silvano Balemi 3

Mechatronics laboratory, Analog PID controller

SUPSI-DTI

Im(s) 6 Q
Q n Q Q    

Re(s)

Figure 2: Poles of a slightly damped system in the complex plane

4. Determine the PID controller of the form P ID(s) = P + I 1 +Ds s (1)

so as to improve the behavior of the LC circuit. The controller parameters are to be expressed in function of the LC lter component values L, C and R. Only minimal overshoot is allowed. In order to keep down the actuation eort, the closed-loop bandwidth of the LC circuit has to be maintained close to the open-loop bandwidth. 5. Simulate the LC circuit controlled by the PID controller just designed. 6. Determine the transfer function of the electronic circuit of gure 1. 7. Determine the values for the electronic circuit of gure 1 implementing the PID controller: what can you conclude? 8. Implement on the PCB the PID controller with the electronic circuit of gure 1 using the values just obtained and measure the closed-loop behavior with a square reference input. 9. Change the jumper so as to modulate the voltage U LC at the input of the second order lter (simulating an LC lter).

Silvano Balemi

academic year 2005/2006