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Closed loop motor speed algorithms

TLDR; looking for algorithms to control a motor. I have a near-random torque, a battery current that can destroy my motor driver, and I aim for a stable output speed regardless of torque. My inputs ...
Frank Vermeulen's user avatar
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1 answer
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Unknown abbreviation

I am looking at P&IDs from a nuclear plant built in 1978. I have run across the letter "Y" in instrument descriptions i.e.PCT-, LCY-, FCY-, LY-, etc. What do they represent?
William Taylor's user avatar
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25 views

Help with PID controller on dual-axis "solar" tracker

I'm working on a dual-axis "solar" tracker for my university. My issue is primarily with tuning the PID that controls output to the two servos. When incrementing the proportional gain, my ...
Austin Seward's user avatar
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3 answers
42 views

Understanding Block Diagrams in Control Setups

Working on some automation for a Boeing 747 autopilot, I am trying to wrap my head around what sections of block diagrams like this one mean: I understand that something is being done to the yaw rate ...
Christopher Helton's user avatar
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1 answer
39 views

Can we reshape the root locus by adding a pole instead of a zero (as is done in PD controller) to get required Ts while O.S. being the same?

I was studying about PD controllers, which made use of adding a zero at such location which gave the required settling time(Ts) while keeping the overshoot same as it was in the uncompensated system. ...
Jina's user avatar
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Designing transfer function compensator to create a stable response

I am working on create a control system to control a satellite to be fixed with respect to a distant start (theoretically). The transfer function of the dynamic model of the system is shown below in ...
Oliver's user avatar
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1 answer
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Multiplicative Vs Additive (PID) Feedback Loops

I normally think of PID feedback loops as being additive. This might not be quite standard, but, e.g. for a simple discrete-time proportional gain loop, $$ C_{t+1}=C_{t}+G(S-M_t) \tag 1 $$ Where $C_{t}...
aquirdturtle's user avatar
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1 answer
30 views

What is the relationship between classical control: transfer functions/frequency domain and the swing-up problem of an inverted pendulum

I am still pretty new to control theory, but I have been studying both classical and modern state space/optimal control ideas. I am having trouble understanding what the frequency domain/transfer ...
krishnab's user avatar
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How to design the control loop to synchronize two rotational objects?

There is a rotating object (object A) that rotates at about 50 rpm. Its rotational speed may change slowly. I need to control another object B via a variable frequency motor, so that the objects' ...
Jackoo's user avatar
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2 answers
85 views

Discretization of a PID controller

I've been given a plant transfer function to control trough a PID. The transfer function is: $G_{\small{p}}(s) = \frac{1}{(1+s)(1+2s)}$ Doing a little work with matlab I got this PID controller ...
weirdgyn's user avatar
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CubeSat: When designing the PID Controller of the CubeSat, what are some constraints that you need to take into account?

For a 1U CubeSat project in which we need to design the controller for it. We decided to not include any propulsion system to keep it light, we'll just essentially drop the satellite on LEO and let it ...
tadm123's user avatar
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0 answers
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Control with variable delay plus inverse relationship

As we all (should) know, PID controllers are pretty bad when the system they control isn't linear. In my case, I have a water heater and a pump. I want to control the pump so that the output is at a ...
Matthias Urlichs's user avatar
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1 answer
71 views

I need to design a controller for a system, need to choose between P, PI, PD, and PID, given only the desired ss, settling, and overshoot %

(Apologies for terrible formatting, first post and don't know how to make equations look nice) The system is $$G(s)=\frac{10}{4s^2+7s+23}$$ and the requirements are steady state error of zero, $10ms$ ...
Logan Harris's user avatar
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4 answers
451 views

What is the physical intuition behind an "integrator" in control theory

I am watching some videos on control theory by John Rossiter, and they are very good. So far I have watched most of the videos on classical control, including transfer function, feedback, etc. One ...
krishnab's user avatar
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2 votes
0 answers
61 views

Inverted pendulum PID: controller causes cart to move at constant velocity?

I am trying to understand the PID controller of an inverted pendulum on cart system through this MATLAB article: https://ctms.engin.umich.edu/CTMS/index.php?example=InvertedPendulum&section=...
Rena W's user avatar
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1 answer
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Iterative Method through FEM

Due to reasons, I can not fully describe the process explicitly so I will be using substitutes to represent the variables. Nomenclature: x - an independent variable y - another independent variable Fz ...
lone_coder's user avatar
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67 views

How to implement H-infinity controller in STM32 platform?

I used matlab to simulate some H infinity controllers, and I have some understanding of the related theory. But I don't know how to implement H-infinite controller on STM32 platform using C/C++ code. ...
zymaster's user avatar
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1 answer
586 views

What is the Z transform of the Discreate PI control model?

I have a discreate PI controller implemented in stm32 MCU, it has the following form: $$ PI=K_p\cdot[r(t_i)-y(t_i)] + (K_I)\cdot\sum_{n=0}^{i}[r(t_n)-y(t_n)]\cdot\Delta t $$ where $r(t_i)$ is the ...
zymaster's user avatar
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71 views

Designing a PID controller for a Type 1 System

I don't know if this is the right place to ask this so I'll give it a try. Given the following system, for example $$ P(s) = \frac{40}{s(s+4)}, $$ I have to design a PID controller that must satisfy ...
aghin's user avatar
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0 answers
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How to calculate the integral and derivative term and integral and derivative time in a PID controller?

I am designing a PID controller. While calculating integral controller, should you calculate mean of all the past errors or only calculate mean of past n samples? In the case of latter, how to pick n?...
Harsh M's user avatar
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0 answers
37 views

steering wheel angle control

I am working on an autonomous vehicle's control, specifically the steering wheel angle control. Knowing that I used kinematic bicycle model, my questions are: How do I choose the actuator for my ...
Asmaa GZ's user avatar
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1 answer
56 views

State Space Model of a transfer function

where we will attempt to stabilize it using the proportional control law u(t) = Ke(t). My Question is, how do I obtain the open-loop transfer function from this dynamics system ? I assume that the ...
Kaique's user avatar
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1 vote
1 answer
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why Type III systems has at least two gain margins?

I heard the following statement https://engineering.stackexchange.com/a/54322/40848 if we have a type III system, or one that has three or more low-frequency poles that we're closing around, then we ...
zymaster's user avatar
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2 answers
96 views

Why are the phase indicators different between the open loop bode plot and the closed loop bode plot?

I have an open-loop transfer function G num=105*conv([1 1],[1 2 43.25]); den=conv([2 0 0],conv([1 2 82],[1 2 101])); G=tf(num,den); and a closed-loop function of G/(1+G). Here are the open-loop bode ...
zymaster's user avatar
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1 answer
77 views

What is the effect of the resonant frequency of the system function Porter diagram on the stability of the system and how to analyze it?

I am a novice in automatic control, the theoretical basis is not very good. We have a large electric clamping jaw, single degree of freedom, the motor is controlled by the torque output, the motor has ...
zymaster's user avatar
0 votes
1 answer
942 views

Do you need to reset the Integral part of a PID controller?

I'm learning about PID controllers and one thing I don't quite understand from the pseudocode and formulas is the apparent persistence of the "Integral" portion. For example, imagine the ...
CaptainCodeman's user avatar
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27 views

Discharge through a gate - Feedback needed

I need to make a PI feedback loop for a hydro power plant. The discharge through one gate is given by Q in equation 4.2. I need to keep (regulate) H = 116 m.a.s.l (meters above sea level) where H = Hg ...
Grétar Már's user avatar
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1 answer
68 views

Orientation and horizontal position control of a bar in 2D

I have a scenario where I have a bar of 0.1 m in length, 10N weight is applied in the center. Two forces are applied on the bar at both ends vertically, right one if 5.1 N and the left one is at ...
Jack L's user avatar
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1 vote
1 answer
77 views

What is the original source of the common Ziegler-Nichols PID tuning coefficients?

In many places, including but not limited to the Wikipedia page about PID controllers, I see the following PID coefficients: $K_P = 0.6K_U$, $K_I = 1.2 K_U / T_U$, and $K_D = 0.075 K_UT_U$. When were ...
retiredgoblin's user avatar
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1 answer
60 views

What is the gain of a purely integrating process?

Consider a system where: $ \frac{Y(s)}{U(s)}=\frac{k}{s} $. Is the gain k, or infinity? Given that to a step response, steady state is never reached, but it increases linearly with no end. Thanks!
HWIK's user avatar
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1 answer
138 views

How do you find the gains for a PI controller with a first order plant and 2nd order low pass filter?

How can analytically work out the gains knowing the required bandwidth and damping? The plant to be controlled is first order. The low pass filter is 2nd order in the feedback path.
Ben's user avatar
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2 answers
119 views

What exactly do I do with the output of a PID controller?

Let's say my setup is something simple: I'm trying to heat some liquid to a temperature $T$. I can influence the temperature of the liquid by applying some potential difference $V$ across the liquid. ...
Kiwi breeder's user avatar
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2 answers
47 views

PC based real time control system

I am newbie, and I want to update an existing control system, which works with a 486 PC with AD/DA card currently. Is it a good idea to find a solution with a windows 10 PC, and a USB AD/DA card? The ...
Kristóf Németh's user avatar
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1 answer
120 views

Real examples of complex PID regulators

I am currently developing the C library for easy implementation of PID controllers. Can you give some examples of complex PID controllers from real life? I don't mean a simple DC motor with a speed ...
MSZ's user avatar
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1 answer
193 views

Boeing 747 Autopilot Vertical Speed Function (PID Controller)

I originally asked this over at the math stack-exchange but was told I might have better luck here. I have simply copy-pasted the question. I am working on a Boeing 747 autopilot control system for an ...
Christopher Helton's user avatar
1 vote
1 answer
90 views

Which controller is more suitable in this scenario? P, I or PI controller?

Scenario: A robot has a ultrasonic sensor which measures the distance to the nearest object in centimetres. The robot has two motors, a motor for the left wheels and a motor for the right wheels. The ...
Invader's user avatar
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1 answer
44 views

How to determine the components of a feedback control loop given following context?

Based on this feedback control loop where $w$ is the desired setpoint, $x$ the process variable, $e$ the error value, $y$ the correcting value and $z$ the disturbance value. Did I interpret the ...
Invader's user avatar
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0 answers
79 views

How can I find characteristic equation of complex systems?

I am working on an Overhead crane, where I am supposed to design a controller that controls the position of the crane while minimizing the load's sway angle. I have derived the transfer functions for ...
Zelreedy's user avatar
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1 answer
51 views

Deadbeat gain for system with measurement delay

Say we have SISO system (e.g. the velocity of a permanent-magnet motor) that we're controlling with proportional feedback, with the condition that our measurements of the process variable are delayed ...
user3716267's user avatar
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0 answers
33 views

Modelling an S-shaped Second Order Process Response

I am trying to model an S-shaped second order process response as a transfer function in Simulink, as shown in figure 3 in the linked article. Ideally the response should be overdamped. I have tried ...
phikter's user avatar
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0 answers
88 views

Finding optimal PID gain values with no Transfer Function or Plant model

Background: I have a Matlab simulation model with .m files. The functions simulate a speed control system of a vehicle. I can control the vehicle's speed by adjusting the vehicle’s acceleration and ...
ConfusedEngineer's user avatar
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0 answers
40 views

Control scheme for roll compensation

I'm working on an application that rotates a cylindrical mass in a manner to compensate for roll in a boat. The roll of the boat is rather slow so I was thinking it might be possibly to simply use a ...
DD5000's user avatar
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1 answer
1k views

Control Systems: 3rd order system project [duplicate]

I'm in need of help finding a third-order or higher system in which I can derive a transfer function. We have a class project in which we need to find a real-life example of the system that equates to ...
megan's user avatar
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0 answers
46 views

Best Techniques to design a cascaded precision position controller

I'm looking to design a cascaded controller to transform a BLDC into a servomotor. The system has a motor current controller in the inner loop, which is controlled by a torque controller, which is ...
Rodrigo de Oliveira's user avatar
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0 answers
215 views

Limitations to consider when picking a cut-off frequency low-pass filter for PID control?

Considering a first-order low-pass filter transfer function: $$ \frac{\omega_c}{s + \omega_c} $$ Where $\omega_c$ is the cut-off frequency. Are there any limitations on where to place this pole? For ...
Wirral's user avatar
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0 answers
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Block-diagram combining two controlled subsystems

I have two subsystems which are shown in the picture below. One of them is a system of stable and controlled differential equations of a mechanical system. Second is a block that implements a function ...
dtn's user avatar
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0 answers
90 views

Linearizing nonlinear system for PID control

I have a system where y = 1/x. (y=output, x=input) If I calculate the PID error not by reading y, but by reading 1/y (so linearizing the system), will my system be nicely linearized, and the PID ...
Asdasd34's user avatar
1 vote
0 answers
115 views

(Dominant) Poles very close to zeros in PID control

I have a plant transfer function $G(s)$: $$ G(s) = \frac{1}{s^2(0.1s + 1) } $$ I want to control this with practical PID control: $$ C(s) = k_p + k_i \frac{1}{s} + k_d \frac{N}{1 + N \frac{1}{s}} $$ ...
Wirral's user avatar
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0 votes
2 answers
180 views

How to tune a PID controller when plant's step response looks like a ramp?

The system is a boat and I want to specify a yaw angle and the PID controller would operate the rudder of the boat in order to reach the desired yaw angle. So, the step response of the plant (boat) ...
enriquesb's user avatar
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0 answers
70 views

How to determine time constant/cutoff frequency of the filters in the controlled loop

I was told to be careful to use filters in the control loops as it will add extra time delays in the system and degrade the system dynamic response, but I also saw there are lots of filters in ...
LHX's user avatar
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