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Laplace transformation
d n y (t ) dy(t ) d m y (t ) dx(t ) an .. a1 a0 y (t ) bm ..b1 b0 x(t ) n m dt dt dt dt
Laplace transformation
1 Tn pn
Fourier transformation
c1
dxsz (t ) c0 xsz (t ) c xb (t TH ) dt
Y (s)
As e sTH 1 T0 s
Gt(s)
compensator or control task error signal (e) comparing element or error detector reference signal (r) transmitter actuator manipulated variable (uP) measured signal (ym) action signal or control signal (u) disturbance variable (d)
Gc(s)
Gp(s)
Gt(s)
Controller Transmitter Process
P controller
xr
xe
Ga ( s ) 1
Kp
ym
Gc ( s ) K p
PI controller
Ga ( s ) 1
xr
xe
Gi ( s )
1 Ti s
Kp
ym
1 Gc ( s ) K c {1 } sTi
PD controller
Ga ( s ) 1
xr
xe
Kp
ym
Gd ( s )
m n!
sTd Gc ( s) K c {1 } 1 0.1sTd
xr
xe
Gi ( s )
1 Ti s
sTd 1 0.2 sTd
Kp
ym
Gd ( s )
m n!
Performance specifications
Unit step response
90%
pv fv fv pv fv spv fv
Stability example 1.
Gc(s) Gp(s)
Gt(s)
Gc ( s ) 5
Gt ( s) 1
G( s)
1 3s 2 2s 1
Stability example 2.
Gc(s) Gp(s)
Gt(s)
Gc ( s ) 5
Gt ( s) 1
G( s)
1 4s 3 3s 2 2s 1
Stability Criteria
The control system is stable if : - The phase shift is smaler than -1800 ,where the gain is bigger than 1! - The gain is smaler than 1 where the phase shift is 1800 !
Gt(s)
Gc ( s ) K c {1
Ti 0.5
Kc 1
1 } sTi
1 G( s) 2s 1 Gt ( s) 1
Ti - is set to the T0 - time constant of the process
Gd ( s) 0.1
Gd(s)
Gc(s)
Gp(s)
Gt(s)
Ti 0.5
Kc 1
1 Gc ( s ) K c {1 } sTi
1 G( s) 2s 1 Gt ( s) 1