Good morning, friends.
May I tell you, second method to tune up the controller, which is dangerous and even dangerous, and
Luban gives a table according to which I got the body values, so it will start now.
So here is my panel of my body controller, which is assigned to RBC Motor.
The Motor Transportation is this second order transfer function and it gives my block diagram below.
Over here I create a DC motor using these values and this is my magic window.
Here is my DC motor, the transfer function of this motor.
And this is my body controller.
Here is my kepi.
This is my gear.
This is my kid.
And this is my step input.
And this is my motor transfer function from the outside.
Using these changes by attending these constant value, I can change the transfer function well.
So in this method, I got the step response and the response of my motor on the same graph from controller
and simulation loop.
From here you can change initial time and finally time, different ordinary differential equations,
solvers.
You can get better response.
In this case, I am using it in that water cooler.
I thought here is my step size zero point zero zero one.
So now how to tune body controller.
So first you have to set it the same as the method.
First you have to set your personal controller, value one and run your window.
In this case, you see your wrist oscillations dial.
So, again, you have to increase your proportional controller.
I set out to do and I got some type of this type of response, increasing oscillations.
So I stopped my way in this case.
And I have to put some value, less than two and greater than one.
So I put one point one million.
I increase again, run in this case.
I see my oscillations again die out.
So I put over here value to one point two million, in this case, my oscillation increasing.
So my value of Capi should be less than one 1.0.
So I put one and again one.
So here again, it is increasing type oscillations you have you can see out here.
So you have to put here at zero and then again one.
So like this, you have to set your mind to keep value when you got your sustained oscillations like
in this case again, Deyo.
So again I increase again.
Dialo.
So like this I have to set a value at which I got the sustained oscillations.
So I go to the PD.
This is the class function of my busy motor and I use these values, KTLA, RTG and be given Kitty to
find out this transfer function.
This table is given by Tirhas and Luján, which required two variables.
First one is Guiyu, which is called Ultimate Gain, and second one is B, it is Ultimate Player.
So this is the procedure.
First, you said your capi value one and Ranvir B after that I got this value for my transformation
one point one zero eight for point at which I got the sustained oscillation means my language.
They speak, they speak, they speak and they speak and have the same value.
There is no Dekay and not increasing.
So I go to the sustained value, sustained oscillations in this case.
So this value, when you get a sustained oscillations, it is called your ultimate gain.
It is called give you the value of kepi at which we go to the sustained oscillation is called the ultimate
gain.
And the period of this wave is called ultimate period.
I explain this and calculate the period from here to here.
It is the period of may be sustained oscillation will.
So this is my bill and in this case I got my Guiyu is correct, one point one zero eight four and Maipu
is zero point zero zero seven.
So using these two values, I have to put these KUOW in this formula and I got the final VAD controller
for the European Union method.
So I put these values in my body over here.
I have to put these values over here and I got the result.
That's the result of errors.
And Louvain is better than the class method.
But in industry, Ziggler Nicolas method is very popular.
It is uses for volume control and any other processes in oil also uses this tuning method for to control
the world and opening and closing of the different valves.
So this is my bias and Libyan method for tuning of the controller.
So this is all about today's lecture Tanko.