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80 8s s 8 θ(s) Φ(s) + + =: 2 d 2 d 3 2 1 o ol

This document discusses a control system for regulating the temperature of a room. 1) A PID controller is used with a heater transfer function of 5 and controller gain of 2. The derivative time is calculated to give a closed loop damping ratio of unity without integral action. 2) With integral control added, the limiting value of integral time is calculated before instability occurs. 3) Block diagrams are constructed and the characteristic equation is derived to solve for the derivative and integral times.

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164 views2 pages

80 8s s 8 θ(s) Φ(s) + + =: 2 d 2 d 3 2 1 o ol

This document discusses a control system for regulating the temperature of a room. 1) A PID controller is used with a heater transfer function of 5 and controller gain of 2. The derivative time is calculated to give a closed loop damping ratio of unity without integral action. 2) With integral control added, the limiting value of integral time is calculated before instability occurs. 3) Block diagrams are constructed and the characteristic equation is derived to solve for the derivative and integral times.

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SSGXCR
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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D227 – CONTROL SYSTEMS ENGINEERING

Q 8 2003

The temperature θ(s) of a room depends on the heat energy input Φ(s) and the transfer functio
relating them is:
Φ(s) 8
= 2
θ(s) s + 8s + 80
A PID controller is used with unity gain position feedback. The heater transfer function is 5. The
controller gain is set to 2.

(a) Calculate the value of derivative time control required to give a closed loop damping ratio of
unity if there is no integral action.

(b) Calculate the limiting value of integral time that may be used together with the derivative time
already found before instability occurs.

First construct a block diagram

G1 with no integral control is 2(1 + s τd)

The open loop transfer function is


θ 80(1 + sτ d )
G ol = o ( s ) = G1G 2 G 3 = 2(1 + sτ d ) x 5 x 2
8
= 2
θe s + 8s + 80 s + 8s + 80

G ol 1
The closed loop transfer function is G cl = or
1 + G ol 1
1+
G ol
θo 1 1 80(1 + sτ d )
G cl = = = =
θi 1 + 1 s + 8s + 80 80(1 + sτ d ) + s 2 + 8s + 80
2

80(1 + sτ d ) 1+
80(1 + sτ d )
s 2 + 8s + 80

θo 80(1 + sτ d ) 80(1 + sτ d )
G cl = = =
θ i (80 + 80sτ d ) + s 2 + 8s + 80 s 2 + (8 + 80τ d )s + 160
The characteristic equation is s 2 + (8 + 80τ d )s + 160 = 0

This could also be found from 1 + Gol = 0


80(1 + sτ d )
1+ 2 =0
s + 8s + 80
s 2 + 8s + 80 + 80(1 + sτ d ) = 0
s 2 + s(8 + 80τ d ) + 160 = 0
ωn = √160 = 12.65 rads/s 2δωn = 8 + 80τd
δ = 1 2ωn = 25.3 = 8 + 80τd
17.3 = 80τd τd = 0.216
Plotting the root locus confirms this.
The roots of s 2 + (8 + 80τ d )s + 160 = 0 are
- 4 - 40τ d ± 4 − 9 + 20τ d + 100τ d2

Remember that δ = cos(α) and so is the point


where α = 0o (measured from the negative real
axis)and is the breakaway point which occurs at τ
= 0.216.

⎧ 1 ⎫
(b) G1 with integral control is 2 ⎨ 1 + + sT d ⎬
⎩ sT i ⎭

The open loop transfer function is


⎛ 1 ⎞
80⎜⎜1 + + sTd ⎟⎟
θ ⎛ ⎞
= ⎝2 ⎠
1 8 sTi
G ol = o ( s ) = G1G 2 G 3 = 2⎜⎜1 + + sTd ⎟⎟ x 5 x 2
θe ⎝ sTi ⎠ s + 8s + 80 s + 8s + 80

1
The closed loop transfer function is G cl =
1
1+
G ol
θo 1 1 80(1 + sτ d )
G cl = = = =
θi
1+
1 s + 8s + 80
2
⎛ 1 ⎞
1+ 80⎜⎜1 + + sTd ⎟⎟ + s 2 + 8s + 80
⎛ 1 ⎞ ⎛ 1 ⎞ ⎝ sTi ⎠
80⎜⎜1 + + sTd ⎟⎟ 80⎜⎜1 + + sTd ⎟⎟
⎝ sTi ⎠ ⎝ sT i ⎠
s + 8s + 80
2

⎛ 1 ⎞ ⎛ 1 ⎞
80⎜⎜ s + + s 2 Td ⎟⎟ 80⎜⎜ s + + s 2 Td ⎟⎟
θ ⎝ Ti ⎠ ⎝ sTi ⎠
G cl = o = =
θi ⎛ ⎞
⎜⎜ 80s + + 80s 2 τ d ⎟⎟ + s 2 + 8s + 80 s (1 + 80τ d ) + s(88) + 80 +
80 2 80
⎝ Ti ⎠ Ti
The characteristic equation is

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