Chapter 7
Control Actions System Compensation
Chapter Objective:
Control Action
PID Controller
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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.
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ME2142 Feedback Control Systems
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.
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ME2142 Feedback Control Systems
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
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are the proportional , integral gain, and differential gain,
is written in the form
1
1
ME2142 Feedback Control Systems
- 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.
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ME2142 Feedback Control Systems
C7.5
Effects of Control Actions
dc motor under speed feedback control
Effect of Load Disturbance
With
0, the block
diagram becomes
Aug-15
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ME2142 Feedback Control Systems
C7.6
Effects of Control Actions
dc motor under speed feedback control
Proportional (P) Control
Effect of Load Disturbance
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
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Step disturbance causes the output
to have a steady state value.
Therefore speed regulation is
affected.
ME2142 Feedback Control Systems
C7.7
Effects of Control Actions
dc motor under speed feedback control
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.
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ME2142 Feedback Control Systems
C7.8
Effects of Control Actions
dc motor under speed feedback control
Proportional (P) Control
Effect of Load Disturbance
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
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Disturbance has no effect on the
output in the steady state.
ME2142 Feedback Control Systems
C7.9
Effects of Control Actions
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.
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ME2142 Feedback Control Systems
C7.10
Effects of Control Actions
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.
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ME2142 Feedback Control Systems
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.
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ME2142 Feedback Control Systems
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)
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ME2142 Feedback Control Systems
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
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0.3
2
0
0
0.5
ME2142 Feedback Control Systems
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
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0
0
0.125
ME2142 Feedback Control Systems
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.
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ME2142 Feedback Control Systems
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
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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
ME2142 Feedback Control Systems
10
15
Time (seconds)
C7.17
The End
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ME2142 Feedback Control Systems
C7.18
