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Chapter 7 - Time Domain Analysis of Dynamic System - 2

The document discusses time domain analysis and design of control systems. It covers the following key points in 3 sentences: The document discusses automatic controllers and how they work using a domestic hot water thermostat as an example. It explains the basic components of a feedback control system including error detection, control algorithms, and adjusting variables. It also covers the popular PID control method and provides examples of analyzing stability for first and second order systems using techniques like the Routh-Hurwitz criteria and final value theorem.

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73 views18 pages

Chapter 7 - Time Domain Analysis of Dynamic System - 2

The document discusses time domain analysis and design of control systems. It covers the following key points in 3 sentences: The document discusses automatic controllers and how they work using a domestic hot water thermostat as an example. It explains the basic components of a feedback control system including error detection, control algorithms, and adjusting variables. It also covers the popular PID control method and provides examples of analyzing stability for first and second order systems using techniques like the Routh-Hurwitz criteria and final value theorem.

Uploaded by

AcapSui
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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MESB323

MODELLING AND CONTROL


OF DYNAMIC SYSTEMS

CHAPTER 7

Time domain analysis and Design of Control


system
Automatic controllers
Think of what goes on in domestic hot water thermostat:
 The temperature of the water is measured.
 Comparison of the measured and the required values
provides an error, e.g. ‘too hot’ or ‘too cold’.
 On the basis error, a control algorithm decides what to do.
 Such an algorithm might be:
 Ifthe temperature is too high then turn the heater off. If it is
too low then turn the heater on.
 The adjustment chosen by the control algorithm is applied
to some adjustable variable, such as the power input to
the water heater.
Automatic controllers
 A feedback control system seeks to bring the measured
quantity to its required value or set-point.

 The control system does not need to know why the


measured value is not currently what is required, only
that is so.

 There are two possible causes of such a disparity;


 The system has been disturbed.
 The set point has changed. In the absence of external
disturbance, a change in set point will introduce an error.
The control system will act until the measured quantity
reach its new set point.
Automatic controllers
 The PID control actions is the most popular feedback
controller used.

 As the name suggest, the PID control actions consists of


three basic modes:
 The Proportional mode, 𝐺𝑐 𝑠 = 𝐾𝑝
𝐾𝑖Τ
 The Integral mode, 𝐺𝑐 𝑠 = 𝑠
 The Derivative mode, 𝐺𝑐 𝑠 = 𝐾𝑑 𝑠

 When utilizing the PID, it is necessary to decide which modes


are to be used (P, I or D) and the specify the parameters (or
settings) for each mode used.
Automatic controllers
Automatic controllers
Automatic controllers
Automatic controllers
Automatic controllers
Example 1 (1st Order system);

Control the height of water level tank;

Use partial fraction method with proportional controllers.

1
Answ: 𝐸 𝑠 𝑜𝑟 𝑒𝑠𝑠 = 1+𝑅𝐾 𝑖𝑓 ℎ 𝑡 = 1
𝑝
Automatic controllers
Example 2 (1st Order system);

Control the height of water level tank;

You can use FINAL VALUE THEOREM with integral controllers;

𝑒𝑠𝑠 = lim 𝑠 𝐸(𝑠)


𝑠→0

ANSW: 𝑒𝑠𝑠 = lim 𝑠 𝐸(𝑠) = 0


𝑠→0
Automatic controllers
Example 2 (2nd Order system);

By identifying the characteristic equation of transfer function


(T.F), system is imaginary stable;
Automatic controllers
Cont. Example 2 (2nd Order system);

By identifying the characteristic equation of transfer function


(T.F), system is imaginary stable – not good;
Automatic controllers
Cont. Example 2 (2nd Order system);

By identifying the characteristic equation of transfer function


(T.F), system is imaginary stable – not good;
Automatic controllers
Example 3 (2nd Order system);
Stability Analysis
 System must be stable.
 Using Routh Hurwitz criteria – to check stability of the system.
 Example 4;
 Given characteristic equation;

𝑠 4 + 2𝑠 3 + 3𝑠 2 + 4𝑠 + 5 = 0
 Steps,
 Draw the table

𝑠4 1 3 5
𝑠3 2 4 0
𝑠2
𝑠
Stability Analysis
 Steps,
 Calculate value inside the table

𝑠4 1 3 5
𝑠3 2 4 0
𝑠2 2(3) – 4(1) 2(5) – 0(1) 0
2 2
=1 =5
𝑠 1(4) – 5(2) 0 0
1
= −6

Unstable because there is sign changed


Stability Analysis
 Example 5,
 Find the range of K for which the system is stable

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