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Controller
Controller detects the error between the set point
values and measured value and implement some
methods of control.
System lags :
Continuous Controller
Proportional control ( P control)
Integral control ( I control)
Derivative control (D control)
proportional + integral control (PI control)
Proportional + derivative control (PD control)
Proportional+integral+derivative control(PID )
1.ON/OFF control mode
• Also called as two step mode.
• The control action is either ON (100%) or OFF (0%)
• Controller equation:
Controller Output α Controller Input
% Controller Output
% Error 100
Vout = GP Ve + V0
Disadvantage
•Offset
•overshoot
Integral control(Reset control)
definition : Integral action gives an
output which is proportional to the
time integral of the error.
Controller equation :
controller output α integral of error with
time
𝑡
Controller output =𝐾𝐼 0 𝑒𝑝 𝑑𝑡 + 𝑃(0)
Electronic Integral controller
𝑡
𝑉𝑜𝑢𝑡 = 𝐺𝐼 න 𝑉𝑒 𝑑𝑡 + 𝑉𝑜𝑢𝑡 (0) Where 𝑉𝑜𝑢𝑡 = 𝑜𝑢𝑡𝑝𝑢𝑡 𝑣𝑜𝑙𝑡𝑎𝑔𝑒
0
1
𝐺𝐼 = = 𝑖𝑛𝑡𝑒𝑔𝑟𝑎𝑡𝑖𝑜𝑛 𝑔𝑎𝑖𝑛
𝑅𝐶
Ve =error voltage
𝑉𝑜𝑢𝑡 0 =Initial output voltage
Advantage
No offset error
Disadvantages
Large overshoot (large oscillation)
Derivative controller –anticipatory
control
• The change in controller output is proportional to the
rate of change with time of the error signal.
• Controller equation :
Controller output α rate of change of error.
D controller output = KD X rate of change of error
𝑑𝑒𝑃
=𝐾𝐷
𝑑𝑡
For a constant error signal, the derivative
controller cannot take any control action.
Electronic D controller
Advantages
Stable output
High gain 𝑑𝑉𝑒
𝑉𝑜𝑢𝑡 = −𝑅𝐶
Faster response 𝑑𝑡
Disadvantage:
For constant error there is no
controller output.
Proportional + Integral (PI) Control
Mode:
When integral action is added to a proportional control
system the controller output is given by:
Controller Output = KP * error + Kp KI * integral
of error with time.
𝑡
Controller Output = 𝐾𝑃 𝑒𝑃 + 𝐾𝑃 𝐾𝐼 0 𝑒𝑝 𝑑𝑡 + 𝑃0
Electronic PI controller
𝑡
𝑅2 1
𝑉𝑜𝑢𝑡 = 𝑉 + න 𝑉 𝑑𝑡 + 𝑉𝑜𝑢𝑡 (0)
𝑅1 𝑒 𝑅1 𝐶 0 𝑒
Advantages
No offset error
Disadvantages:
Longer response time
Large oscillations
Proportional + Derivative (PD) Control
Mode:
𝑑𝑒𝑃
Controller Output = 𝐾𝑃 𝑒𝑃 + 𝐾𝑃 𝐾𝐷 + 𝑃0
𝑑𝑡
Electronic PD controller
𝑅2 𝑅2 𝑑𝑉𝑒
𝑉𝑜𝑢𝑡 = 𝑅 𝑉𝑒 + 𝑅 𝑅3 𝐶 + 𝑉0
1 +𝑅3 1 +𝑅3 𝑑𝑡
Advantages:
Reduce the excessive
oscillation
Disadvantages :
Cannot eliminate offset
Proportional + Integral + Derivative
(PID) Control Mode:
• which has no steady state error and reduces the
tendency for oscillations. Such a controller is known
as a three-mode controller or PID controller.
• The controller output equation is :
Controller Output = KP ( error + KI * integral of
error with time + KD * rate of change of error )
𝑡 𝑑𝑒𝑃
Controller Output =𝐾𝑃 𝑒𝑃 + 𝐾𝑃 𝐾𝐼 0 𝑒𝑝 𝑑𝑡 + 𝐾𝑃 𝐾𝐷 + 𝑃0
𝑑𝑡
Electronic PID controller
𝑅2 𝑅2 1 𝑅2 𝑑𝑉𝑒
−𝑉𝑜𝑢𝑡 = 𝑉𝑒 + න 𝑉𝑒 𝑑𝑡 + 𝑅𝐷 𝐶𝐷 + 𝑉𝑜𝑢𝑡 (0)
𝑅1 𝑅1 𝑅1 𝐶1 𝑅1 𝑑𝑡
• Advantages :
• Eliminates the offset
• Reduce the maximum deviation
• Reduce the time of oscillation
PERFORMANCE ANALYSIS
Time-domain Analysis of Control
Systems
• The dynamic behavior of a system is
compared under application of standard test
signals
an impulse,
step,
constant velocity (Ramp signal )
constant acceleration.(Parabolic signal)
Unit impulse signal
Parabolic signal
TYPES OF TIME RESPONSE
The time response of any system has two
components:
• transient response
• steady state response
Transient response
Transient response is the response of a system
from rest or equilibrium to steady state.
Steady-State response.
The response of the system after the transient
response is called steady state response.
Time domain specifications:
• Delay time, td
• Rise time.tr
• Peak time, tp
• Maximum overshoot, Mp
• Settling time, ts .
• Steady state error e ss
Delay time :It is the time required for the response to
reach 50% of the final value in first attempt.