Rewrite the compensator formula for a pd controller into the general formula.
10 views (last 30 days)
Show older comments
Dear,
I'm currently working on a project where my team and I have to let a magnetic ball hover under/above a magnet and for doing so we would have to implement a pd controller in order to create the feedback in the system. However, the formula in my lecture notes states that the transfer function of a pd controller is H(s)=k*(1+(Td*N)/(N/s+Td)) with Td the time constant of the differentiator and k the gain. However in Matlab the compensator formula is given by H(s)=P(1+P/D*N/(1+N/s)). I think that D/P is proportional to Td and that P is proportional to K but I'm not sure about it. Any help would be welcome.
0 Comments
Accepted Answer
Sam Chak
on 3 Mar 2023
The PD compensator from your lecture note appears to have the same structure as the standard form of the PD controller, pidstd(Kp,Ti,Td,N), when :
The PD controller from the Ideal-type PID Controller Block has the form
Comparing both, then we can deduce that
You can also find the relationships between the gains for the Parallel-type PID Controller Block.
2 Comments
Sam Chak
on 4 Mar 2023
You're welcome, @Joris Bogaerts. If you have a control issue with the Maglev system later, feel free to post a new question.
More Answers (0)
See Also
Categories
Find more on PID Controller Tuning in Help Center and File Exchange
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!