??????????MATLAB

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??????????MATLAB

• ???

From Modern Control Systems, Richard C. Dorf, 6th
Edition, 1998
2
?????????????
G(s)
O(s)
I(s)

• ????????????????,???s ????????,??????????
• ?Laplace Transform?????,?????????,?????????(Transf
  er Function)?????

3
?????????????

• ???????????,??????,??Transfer Function????????????
  ??????????
• ??????????????????K????????????

Transfer function s 1 --------------- s2
0.2 s 1
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????????????

• ??PID????????????????,????????????????????
• ?????????Ziegler-Nichols,?Chien-Hrones-Reswick
  ???
• NCD ?????Matlab?????,?????????

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Ziegler-Nichols???
y

• Ziegler-Nichols????????????????????????????
• ??Ti, Td ????????????????
• ??????,????

T
k
L
t
a
????? ????????? ????????? ?????????
????? Kp Ti Td
P 0.9/a
PI 1/a 3L
PID 1.2/a 2L L/2
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Ziegler-Nichols ????

• ??MATLAB simulation model
• ????Kp, Ti, Td ??? L 0.6, T 3, k 1
• ??P,PI,PID???????????
• System delay?????
• System delay?Transport Delay???

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Chien-Hrones-Reswick???

• CHR??????????????,????? 0????20???,??????

????? 0 overshooting 0 overshooting 0 overshooting 20 overshooting 20 overshooting 20 overshooting
????? Kp Ti Td Kp Ti Td
P 0.3/a 0.7/a
PI 0.35/a 1.2T 0.6/a T
PID 0.6/a T 0.5L 0.95/a 1.4T 0.47L
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Chien-Hrones-Reswick????

• ?????,???Ziegler-Nichols?CHR????????????
• ??Overshooting??????

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PID Controller ???? NCD

• SIMULINK???????NCD (Nonlinear Control Design
  Blockset) ???????????????PID Controller???
• NCD??????,???????????????????
• NCD??????????????,?????????????,??????????????????
  ???????????????????

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NCD ????
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NCD ????

• ???????Block Diagram
• ???????
• ????????????????
• ???????
• ????

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?? NCD???????
System Block Diagram
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?? NCD???????
Initial Response
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?? NCD???????
Optimized Parameters Setting
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?? NCD???????
Optimized Control Result