Control Actions - System Compensation: Chapter Objective: - Control Action - PID Controller

Chapter 7
Control Actions System Compensation
Chapter Objective:
Control Action
PID Controller
Aug-15
Copyright ME, NUS. All Rights Reserved.
ME2142 Feedback Control Systems
C7.1
Control Actions System Compensation

Discusses the control actions typically used for the
controller.
What do you do if the systems output does not meet with
your requirements?
Apply the appropriate control actions to get it to respond closer to
what you want.
Aug-15
C7.2
Commonly Used Control Actions
Proportional (P) Control
where
is the called the proportional gain.
Integral (I) Control
where is the called the integral gain.

Differential (D) Control
where
is the called the differential gain.
Neither the integrator nor the differential controller are used on its own.
There are usually used in combination with the proportional controller.
Aug-15
C7.3
Commonly Used Control Actions

Proportional-plus-Integral (PI) Control
where
and
are the proportional and integral gain, respectively.
Proportional-plus-Derivative (PD) Control

where
and
are the proportional and differential gain, respectively.
Proportional-plus-Integral-plus Derivative (PID) Control
where , , and
respectively.
Sometimes
Aug-15
are the proportional , integral gain, and differential gain,
is written in the form

1
1
- Integral Time
- Derivative Time
C7.4
Effects of Control Actions

dc motor under speed feedback control
D
Example
R
Gc
T +
Km
Tm s 1
is output speed
is reference input
is motor torque
is disturbance/load torque
Proportional Control with

1
1
1
The resulting system is still first-order and will always be stable.

The resulting time constant, , is reduced to a faster speed of response.
Steady-state error to unit step has changed from 1
to
. Still
non-zero since the system is Type 0.

Aug-15
C7.5

Effect of Load Disturbance
With
0, the block
diagram becomes
Aug-15
C7.6

R
Let
E
T +
Gc
D
+
Km
Tm s 1
D +
Km
Tm s 1
For a unit step disturbance
Kp
1
1
lim
1
Aug-15
Step disturbance causes the output

to have a steady state value.
Therefore speed regulation is
affected.
C7.7

D
PI Control
R
Gc
T +
Km
Tm s 1
With PI control, the forward transfer function becomes

A Type 1 system: steady-state error to step input is zero.
Also,
/
1
1
where
Increasing Kp increases damping. Increasing Ki increases natural

frequency and reduces damping.
Aug-15
C7.8

Let
R
D +
Km
Tm s 1
Gc
0
T +
D
+
Km
Tm s 1
Gc
For a unit step disturbance

1
1
lim
1
Aug-15
Disturbance has no effect on the

output in the steady state.
C7.9

dc motor under position feedback control
Example
R
Gc
Km
s(Tm s 1)
is output position
is reference input
is motor torque
is disturbance/load torque
Proportional Control with
2
/
The resulting system is a Type 1 second-order system.

Steady-state position error to a step input is zero.
Increasing
increases
and thus speed of response but reduces
damping.
Aug-15
C7.10

dc motor under position feedback control
PD Control
R
Gc
Km
s(Tm s 1)
C
PD Control with
Open-loop transfer is
1
Closed-loop system remains a Type 1 system with zero steady-state

error to step inputs.
Closed-loop Characteristic Equation
1
1
Addition of derivative control allows damping to be increased

without affecting system type and natural frequency.
Aug-15
C7.11
Effect of PID gains to system dynamics

In general, the effects of increasing each of the PID
parameters , and
can be briefly summarized as
follows:
PID
Paras
Responsesspecifications
RiseTime
Overshoot
SettlingTime
SSError
Decrease
Increase
NT
Decrease
Decrease
Increase
Increase
Eliminate
NT
Decrease
Decrease
NT
NT No definite trend
Note: This experience is generally true, but NOT always true.
Aug-15
C7.12
PID Tuning
Ziegler and Nichols Tunning Rules
In many cases, the plant is so complicated that its model cannot be
easily obtained, then experimental approaches to the tuning of PID
controllers is needed.
An empirical rules.
Two approaches:
Ultimate gain approach
Based on Step Response
PID representation used

1
PID
Gc(s)
Plant
Gp(s)
Aug-15
C7.13
Ziegler and Nichols Tunning

Step Response Approach
PID
Plant
Gc(s)
Gp(s)
Base on the plant has the model of the form

1
Method:
Obtain the unit step response of the system
Tuning controller based on the table below:
P
PI
0.9
PID
1.2
Aug-15
0.3
2
0
0
0.5
C7.14
Ziegler and Nichols Tunning

Ultimate Gain Approach
PID
Plant
Gc(s)
Gp(s)
Base on the plant has the model of the form

Method:
Using proportional control action only, increase
the output exhibits a sustained oscillation.
Take note of the critical gain value

and its corresponding period
Tuning controller based on the table below:
0.5
PI
0.45
1
1.2
PID
0.6
0.5
Aug-15
0
0
0.125
C7.15
PID Tuning Example

Consider the control system as shown below with a PID controller.
1
Lets use the ZN-Ultimate Gain Approach.

1. To determine the ultimate gain (
Setting
and
The C.L.C.E is
) and ultimate period (
0, the C.L.T.F is
6
).
RouthArray
1
0.
From the constructed Routh Array, the sustained oscillation will occur
at
30.
, the CLCE will have roots
. Hence
At
6
5
30 0
5
6 5
0
5
can be calculated as
The ultimate period
2
2.81 s
6
30
6
2. Tuning using The table in previous page.

Aug-15
C7.16
PID Tuning Example

Consider the control system as
shown below with a PID controller.
Unit-Step Response
1.8
1.6
1.4
0.6
0.5
0.125
18
1.405
0.35124
1
18 1
1.405
6.322
18
6
11.3223
Aug-15
0.35124
1.2
Amplitude
Lets use the ZN-Ultimate Gain

Approach.
2. Tuning using
and
, we have
1
0.8
0.6
0.4
0.2
0
12.811
18
12.811
10
15
Time (seconds)
C7.17
The End
Aug-15
C7.18

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Chapter 7

Control Actions System Compensation

ME2142 Feedback Control Systems

Control Actions System Compensation

ME2142 Feedback Control Systems

Commonly Used Control Actions

Proportional (P) Control

is the called the proportional gain.

Integral (I) Control

where is the called the integral gain.

is the called the differential gain.

ME2142 Feedback Control Systems

Commonly Used Control Actions

are the proportional and integral gain, respectively.

Proportional-plus-Derivative (PD) Control

are the proportional and differential gain, respectively.

Proportional-plus-Integral-plus Derivative (PID) Control

are the proportional , integral gain, and differential gain,

is written in the form

Effects of Control Actions

Proportional Control with

The resulting system is still first-order and will always be stable.

non-zero since the system is Type 0.

ME2142 Feedback Control Systems

Effects of Control Actions

ME2142 Feedback Control Systems

Effects of Control Actions

For a unit step disturbance

Step disturbance causes the output

Effects of Control Actions

With PI control, the forward transfer function becomes

Increasing Kp increases damping. Increasing Ki increases natural

ME2142 Feedback Control Systems

Effects of Control Actions

For a unit step disturbance

Disturbance has no effect on the

ME2142 Feedback Control Systems

Effects of Control Actions

Proportional Control with

The resulting system is a Type 1 second-order system.

ME2142 Feedback Control Systems

Effects of Control Actions

Closed-loop system remains a Type 1 system with zero steady-state

Addition of derivative control allows damping to be increased

ME2142 Feedback Control Systems

Effect of PID gains to system dynamics

ME2142 Feedback Control Systems

PID representation used

ME2142 Feedback Control Systems

Ziegler and Nichols Tunning

Base on the plant has the model of the form

ME2142 Feedback Control Systems

Ziegler and Nichols Tunning

Base on the plant has the model of the form

the output exhibits a sustained oscillation.

Take note of the critical gain value

ME2142 Feedback Control Systems