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![The proportional-integral-derivative-acceleration(PIDA)
controller
The proportional-integral-derivative-acceleration (PIDA)
controller [2] was proposed for a third order plant.](https://image.slidesharecdn.com/amixed-modepidacontrolleremployingotas-231026091802-28bb2fa1/85/A-mixed-mode-PIDA-controller-employing-OTAs-pptx-4-320.jpg)
![THE SYNTHESIS OF ELECTRONIC CONTROLLER
CIRCUITS
using op-amp and passive element [3]-[4], they consume
high power and their frequency response is limited by
GBP](https://image.slidesharecdn.com/amixed-modepidacontrolleremployingotas-231026091802-28bb2fa1/85/A-mixed-mode-PIDA-controller-employing-OTAs-pptx-5-320.jpg)
![ PIDA circuits using OTA (Operational
Transconductance Amplifier), CFOA
(Current Feedback Operational Amplifier),
and CCII (second generation current
conveyor) were proposed [5], [6], and [7].
This controller is more advantageous than
conventional controllers.
Since the inputs and output of proposed
controller can be either current signal or
voltage signal, the application of circuitry
will be more flexible](https://image.slidesharecdn.com/amixed-modepidacontrolleremployingotas-231026091802-28bb2fa1/85/A-mixed-mode-PIDA-controller-employing-OTAs-pptx-6-320.jpg)
A mixed-mode PIDA controller employing OTAs.pptx
- 1. A MIXED-MODE PIDACONTROLLER EMPLOYING OTAS Ittipong Chaisayun and Somkiat Pianprantong Southeast Asia University
- 2. OUTLINE INTRODUCTION PRINCIPLEOF PROPOSED CIRCUIT SIMULATION RESULTS PERFORMANCE ANALYSIS APPLICATION CONCLUSION
- 3. INTRODUCTION The proportional-integral-derivative (PID) controller Theproportional-integral-derivative (PID) controller is the most important controller ,but it is quite difficult to use the PID controller for the third or higher order plant
- 4. The proportional-integral-derivative-acceleration(PIDA) controller The proportional-integral-derivative-acceleration(PIDA) controller [2] was proposed for a third order plant.
- 5. THE SYNTHESIS OFELECTRONIC CONTROLLER CIRCUITS using op-amp and passive element [3]-[4], they consume high power and their frequency response is limited by GBP
- 6. PIDA circuitsusing OTA (Operational Transconductance Amplifier), CFOA (Current Feedback Operational Amplifier), and CCII (second generation current conveyor) were proposed [5], [6], and [7]. This controller is more advantageous than conventional controllers. Since the inputs and output of proposed controller can be either current signal or voltage signal, the application of circuitry will be more flexible
- 8. PRINCIPLE OF THEPROPOSED CIRCUIT Figure 1. Operational transconductance amplifiers. )a (The single output OTA. (b (The dual output OTA. IB iO2 IB - + V+ V- iO1 iO1 - + V+ V- Operational transconductance amplifier:OTA (1)
- 9. PIDA CONTROLLER Transfer functionof PIDA is given as Since the poles d, e are greater than zero, these poles are non-dominant poles, and can be ignored. (3) (2)
- 10. The transfer functionof proposed PIDA controller will be shown by Vin Iin iout Vout s K I D sK D A K sK P K m g 1 m g 1 Figure 2. Block diagram of proposed PIDA controller. (4)
- 11.
- 12. The output voltageof PIDA occurs from summation of IP, II,ID, and IA at OTA_10, and can be expressed as The output current of PIDA can be expressed as (5) (6) if , the transfer function will be if , the transfer function will be if , the transfer function will be if , the transfer function will be
- 13. THE GAINS OFTHE VOLTAGE MODE PIDA CONTROLLER IN THE FOLLOWING EQUATIONS (9) (8) (10) (7)
- 14. SIMULATION RESULTS IB M3 M8 M7 M6 M5 M2 M1 M9 M4 M10 VDD VSS V - V+ io1 io2 The circuit of dual output OTA
- 15.
- 16. Time 0s 4ms 8ms -200mV 0V 200mV -20µA 0A 20µA -20µA 0A 20µA -20µA 0A 20µA -100µA 100µA 0A IB8=20µA IB8=60µA IB5=20µA IB5=60µA IB4=20µA IB4=60µA IB3=20µA IB3=60µA V in I D I A I I I pFigure 5.The time domain results. Vin is applied with triangle signal as no input current.
- 17. Frequency 1Hz 10Hz 100Hz1kHz 10kHz 100kHz -200dB -100dB 0dB 50dB Simulated IP Simulated II Simulated ID Simulated IA Ideal ID Ideal IA Ideal IP Ideal II Figure 6. ideal and simulated frequency response of each PIDA elements
- 18. PERFORMANCE ANALYSIS (12) (11) The inputresistance of CMOS OTA is very high, and capacitors CI, CD, and CA are greater than parasitic capacitors. Therefore these effect can be ignored. The output resistance of OTA is a main factor that affects the proposed PIDA
- 19. APPLICATION The close loopcontrol system with Proportional controller RS CP1 CP3 CP2 gmp1 gmp3 gmp2 gmS VS Vo VE Time 0s 2ms 4ms 6ms -100mV 0V 100mV 200mV 300mV Vs Vo, RS=160kΩ Vo, RS=40kΩ Vo, RS=80kΩ
- 20. RS CP1 CP3 CP2 gmp1 gmp3 gmp2 gmS VS Vo PIDA circuit Vin Iin Vout Iout Vs Vo Time 0s 2ms4ms 6ms -200mV 0V 200mV 400mV The close loop control system with voltage mode PIDA circuit tr ≈ 0.3ms ts ≈ 1.4ms ℅ Mp ≈ 29℅ ess ≈ 2℅
- 21. CP1 CP3 CP2 gmp1 gmp3 gmp2 gmS VS Vo PIDA circuit Vin Iin Iout Vout Vo Time 0s2ms 4ms 6ms -200mV 0V 200mV 400mV Vs The close loop control system with transimpedance mode PIDA circuit tr ≈ 0.3ms ts ≈ 1.4ms ℅ Mp ≈ 29℅ ess ≈ 2℅
- 22. CONCLUSION its inputsignal and output signal can be either current or voltage. the gains KP, KI, KD, and KA can be independently controlled by adjusting bias currents. grounded capacitors are only used . no resistor is required. simulation results agree well with the theoretical anticipation. This paper has proposed the PIDA controller circuit which has the following features
- 23. THANK YOU FOR YOURATTENTION