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- Title
- A COMPARISON AND EVALUATIONOFCOMMON PID TUNING METHODS.
- Creator
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Youney, Justin, Haralambous, Michael, University of Central Florida
- Abstract / Description
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The motivation behind this thesis is to consolidate and evaluate the most common Proportional Integral Derivative (PID) controller tuning techniques used in industry. These are the tuning techniques used when the plant transfer function is not known. Many of these systems are poorly tuned because such consolidated information is not easily found in one single source such as this thesis. Once one of the tuning methods are applied almost always there will be further fine tuning needed to bring...
Show moreThe motivation behind this thesis is to consolidate and evaluate the most common Proportional Integral Derivative (PID) controller tuning techniques used in industry. These are the tuning techniques used when the plant transfer function is not known. Many of these systems are poorly tuned because such consolidated information is not easily found in one single source such as this thesis. Once one of the tuning methods are applied almost always there will be further fine tuning needed to bring the system into the required design criteria. The purpose here is to find out which tuning technique will yield the lowest percent overshoot and the shortest settling time for all situations. This will give the engineer a good starting point; to minimally further adjust parameters to achieve the desired design criteria. There will also be discussion on the various algorithms used in industry. Four tuning methods will be evaluated based on their ability to control different style plants. The comparison criteria will be percent overshoot and settling time for an applied step input. The tuning methods chosen were the Ziegler-Nichols Open Loop method, the CHR method for 0% overshoot, the Ziegler-Nichols Closed Loop method, and the Rule of Thumb method. It is shown that for a second order plant with a lag and pure integration in its transfer function, the Open Loop method yielded the lowest results in terms of percent overshoot, yet the Closed Loop method had the shortest settling time. For systems of higher order than two it was shown that the CHR method gave the best performance however as the order increased the Closed Loop method gave a shorter settling time. For systems of higher order with varying lags in series the CHR method gave the best results. The Rule of thumb method usually gave similar results to that of the Closed Loop method; however for higher order systems the Rule of Thumb method gave less percent overshoot but with a longer settling time than the Closed Loop method. Since these tuning methods are used when the plant transfer function is not known, and none of the rules were found to give consistently the lowest percent overshoot, and settling time for all plants tested, there can not be a recommendation as to which method an engineer should choose to use. If the plant transfer function is known or can be reasonably modeled then the following recommendations can be followed. When tuning systems with pure integrations in their transfer function the Open Loop or Closed Loop method be used. When tuning systems of order higher than two the CHR or Closed Loop method should be used, however with high order systems with varying lags the CHR method should be used. It is the responsibility of the engineer to know how and when to implement each of the tuning rules properly.
Show less - Date Issued
- 2007
- Identifier
- CFE0001716, ucf:47301
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0001716
- Title
- SAW Correlator Temperature Compensation Using a Pulse Width Modulated Temperature Controller.
- Creator
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Betancourt, Daniel, Weeks, Arthur, Malocha, Donald, Richie, Samuel, Gong, Xun, University of Central Florida
- Abstract / Description
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A Surface Acoustic Wave (SAW) correlator built on a Lithium Niobate substrate is temperature compensated in order to maintain a constant center frequency. Frequency shifts as a result of temperature variations limit device performance. An Arduino(&)#174;-based PWM temperature controller is developed to read the device temperature from a resistance temperature detector located on the SAW wafer and to regulate its temperature to a specified setpoint by providing current to a heater which is co...
Show moreA Surface Acoustic Wave (SAW) correlator built on a Lithium Niobate substrate is temperature compensated in order to maintain a constant center frequency. Frequency shifts as a result of temperature variations limit device performance. An Arduino(&)#174;-based PWM temperature controller is developed to read the device temperature from a resistance temperature detector located on the SAW wafer and to regulate its temperature to a specified setpoint by providing current to a heater which is co-located with the temperature sensor on the SAW correlator substrate. The final temperature controller achieves frequency shifts of 0.013 MHz from room temperature with a worst-case PPM experienced over 30(&)deg;C of temperature variation of 0.48 PPM/(&)deg;C. Linear and non-linear plant models are developed successfully to predict the device's temperature based on any input setpoint. Although there are alternatives to limit temperature drift at different temperatures, this thesis presents a simple method that works on a standard Lithium Niobate substrate.
Show less - Date Issued
- 2019
- Identifier
- CFE0007787, ucf:52331
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0007787
- Title
- AUTONOMOUS ROBOTIC AUTOMATION SYSTEMWITH VISION FEEDBACK.
- Creator
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Rosino, Jeffery, Qu, Zhihua, University of Central Florida
- Abstract / Description
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In this thesis, a full design, development and application of an autonomous robotic automation system using vision feedback is performed. To realize this system, a cylindrical manipulator configuration is implemented, using a personal computer (PC) based PID controller from National Instruments. Full autonomous control will be achieved via a programmable human machine interface (HMI) developed on a PC using Borland C++ Builder. The vision feedback position control is accomplished using an...
Show moreIn this thesis, a full design, development and application of an autonomous robotic automation system using vision feedback is performed. To realize this system, a cylindrical manipulator configuration is implemented, using a personal computer (PC) based PID controller from National Instruments. Full autonomous control will be achieved via a programmable human machine interface (HMI) developed on a PC using Borland C++ Builder. The vision feedback position control is accomplished using an ordinary "off-the-shelf" web camera. The manuscript is organized as follows; After Chapter 1, an introduction to automation history and its role in the manufacturing industry, Chapter 2 discusses and outlines the development of the robotic kinematics and dynamics of the system. A control strategy is also developed and simulated in this chapter. Chapter 3 discusses color image processing and shows the development of the algorithm used for the vision feedback position control. Chapter 4 outlines the system development, which includes the hardware and software. Chapter 5 concludes with a summary, and improvement section. The process used as a basis for the design and development of this thesis of this thesis topic was constructed from a manual capacitor orientation check test station. A more detailed definition and objective is presented in the introduction.
Show less - Date Issued
- 2004
- Identifier
- CFE0000277, ucf:46220
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0000277
