Week 05
PI Controller Calculations
I use my PSIM report and PI calculation file to revisit the DC-motor model, cascaded current-speed loops, and field weakening.
What I connect in this unit
Proportional gain reacts to present error and integral gain removes accumulated error. Their ratio sets the PI zero, so pole-zero placement relative to the plant pole comes first, and gain units depend on controlled-output and error-signal units.
Concept map
- Proportional gain
- Integral gain
- Pole-zero placement
- Gain units
Technical anchor
The controller is G_PI(s) = K_p + K_i/s = K_p(s + K_i/K_p)/s, placing its zero at s = -K_i/K_p.
How I review it
Attach voltage-current or torque-speed units to K_p and K_i, then verify whether the digital implementation expects continuous K_i or the sampled coefficient K_i T_s.
Connection to the full course
Unit 5 of 12. Unit numbers follow the control structure in the saved design files and do not claim attendance weeks.