Today, we’re going to see the way the right progress try chosen to get to the wanted show of current control

Right here, we will establish an increase possibilities method according to research by the frequency effect of your program

Of Eq. (2.28) , it can be viewed that current control attribute relies on the newest overall performance of one’s current controller, in fact it is determined by the brand new P and i also progress chosen with the PI controller.

2.6.step 1 Proportional–Inbuilt Newest Control

A current manage system who has a beneficial PI control is actually revealed when you look at the Fig. dos.thirty two . Right here, assume that the new feedforward handle makes up the back-EMF of your DC engine really well.

where T p we ( = K p c / K i c ) ‘s the integrated date ongoing of your own PI current controller and K i c ‘s the integrated gain.

There are some PI acquire tuning statutes like the well-known Ziegler–Nichols means. Here, we’re going to embrace the strategy known as rod-zero cancellation approach. With the pole-no cancellation, we https://datingranking.net/es/sitios-de-citas-para-adultos/ can eliminate the current-control attribute of your own DC system in itself therefore the PI operator could possibly get determine the newest abilities away from the present day handle.

In case the no ( ? K we c / K p c ) of PI control was designed to cancel the latest pole ( ? R good / L an effective ) of one’s DC system by the pole-no termination strategy, we.e.

Fig. 2.33 suggests this new bode spot of one’s open-loop frequency reaction out-of G c o ( s ) . The brand new stage is actually ?90° at the get cross-more than regularity ? c c where in actuality the magnitude | G c o ( j ? ) | = 0 dB . Therefore this new obtain margin is actually confident together with system could be stable. And additionally, in such a case, this new import aim of Eq. (dos.32) gets the device away from style of=1 and you will, for this reason, we can expect this new regular-condition error is zero since the

The newest obtain cross-more than regularity ? c c of the unlock-loop regularity response is equal to the new obtain reduce-of frequency of one’s romantic-loop regularity reaction, hence ways the data transfer of the current-control program. Let us look at the bandwidth in the current control program.

Their regularity answer is revealed during the Fig. 2.34 . We are able to observe that brand new bandwidth on the method is given as the ? c c by letting | G c c ( j ? ) | equivalent to step 1 / dos (=?step three dB) while the

Such as this, in case your no of your own PI controller was created to terminate the fresh new pole of one’s program, the current control experience expressed only given that an initial-buy system with a cut-out-off frequency ? c c , that’s secure. In such a case, there will be no overshoot from the response as well as the go out you’ll need for the answer to reach the final value might be from the 4 times the full time lingering of your program.

According to the need provided more than, the new proportional and you will inbuilt gains of latest control must get to the required data transfer are calculated as follows.

If the necessary manage bandwidth was ? c c , then the proportional acquire K p c exists off Eq. (2.34) and also the integral get K we c exists out-of Eq. (2.31) since the

It is important to remember that the earnings of your own controller rely on new system details L good and R a great . Additionally the acquire opinions to really have the exact same current-control performance ple, a system that have a big value of wandering inductance, whose newest is hard to evolve, need a much bigger proportional gain to get an equal data transfer of the present day control than simply by using a tiny value of winding inductance, whose current is easy to evolve. Thus, perfect factual statements about the engine parameters is very important to own requisite current control performance.