Closed Loop

Controllers

Unit 6 - Mechatronics PEARSON BTEC HND

Electrical & Electronic
Engineering
Randeera Liyanage
Introduction to Closed Loop Controllers

• A controller is used to
compare continuously the
output of a system with the
required condition and
convert the error into a
control action designed to
reduce the error.
Control modes determine how the system
reacts to the error signal.
Introduction to Closed Loop Controllers

• Many processes not only involve controlling some variable to a required

value, but also involve the sequencing of operations.
• Clock-based system - The actions are carried out at specific times.

• Event-based system - The actions are carried out when there is feedback to indicate
that a particular event has occurred.

Direct digital control is when the computer is in the feedback loop and exercising control
in this way.
Closed Loop Systems

• With a closed-loop system, there is a feedback from the output to modify

the input so that the system maintains the required output.

• With feedback, there is a reduction of the effects of disturbance signals

on the system.

Disturbance Signal - A disturbance signal is an unwanted signal which affects the output
signal of a system.
Closed Loop Systems

𝐺1 𝑠 𝐺2 𝑠 𝐺2 𝑠
𝑋 𝑠 = 𝑅 𝑠 + 𝐷(𝑠)
1 + 𝐺1 𝑠 𝐺2 𝑠 𝐻 𝑠 1 + 𝐺1 𝑠 𝐺2 𝑠 𝐻 𝑠
Steady State Error

• A closed-loop control system uses a measurement of the system output

and a comparison of its value with the desired output to generate an
error signal.

Steady-state error is used for the difference between the desired set
value input and the output
Steady State Error

• Steady state error is a measure of the accuracy of the control system in

tracking the set value input.

• Whenever there is an error, the output is not at the desired output.

𝑅(𝑠)
𝐸 𝑠 =
1 + 𝐺(𝑠)
Types of Linear Control Modes

• Two-step mode

• Proportional mode (P)

• Derivative mode (D)

• Integral mode (I)

• Combined modes of proportional, integral, and derivative.

A control unit can react to an error signal and supply an output for correcting elements.
Types of Linear Control Modes

How can a controller achieve different control modes?

• Pneumatic circuits

• Analogue electronic circuits involving operational amplifiers

• Programming of a microprocessor

• Computer
Two-Step Control Mode

• Two-step mode is a discontinuous action of control.

• It is a simple on/off mode of control where the on or off position is

determined generally by the action of a physical feedback at specified
conditions.

• This creates oscillations of the controlled variable occur about the

required condition.
Two-Step Control Mode

Example – Bimetallic Thermostat (Temperature Control System)

Two-Step Control Mode

Example – Bimetallic Thermostat (Temperature Control System)

Two-Step Control Mode

Example – Bimetallic Thermostat (Temperature Control System)

• The room temperature oscillates above and below the required

temperature.

• Dead band - Values between the on and off values.

• A large dead band results in large fluctuations of the temperature about the set
temperature.

• A small dead band will result in an increased frequency of switching.

Two-Step Control Mode

• Two-step control is not very precise.

• It involve simple devices and is therefore it is fairly cheap.

Two-step control action tends to be used where changes are

taking place very slowly.
Proportional (P) Control Mode

• The size of the controller output is proportional to the size of the error.

• The bigger the error, the bigger the output from the controller.

• Correction element of the control system, will receive a signal which is

proportional to the size of the correction required.

𝐼(𝑠)
𝐶 𝑠 = = 𝐾𝑃
𝐸(𝑠)

𝑒(𝑡) – Error; 𝑖(𝑡) – Controller output; 𝐾𝑃 – Proportional constant; 𝐶(𝑠) – Controller TF

Proportional (P) Control Mode

System specification changes by proportional control are,

• Time to first peak is reduced.

• Rise time is reduced.

• Settling time is reduced.

• Steady state error is changed.

Proportional (P) Control Mode

Blue – Original response.

Green – Kp = 1

Red - Kp = 2
Derivative (D) Control Mode

• The controller output is proportional to the rate of change with time of

the error signal.

• As soon as the error signal begins to change, there can be a large

controller output since it is proportional to the rate of change the error.

𝐼(𝑠)
𝐶 𝑠 = = 𝐾𝐷 𝑠
𝐸(𝑠)

𝐾𝐷 – Derivative constant
Proportional (P) + Derivative (D) Control Mode

• Derivative control is never used alone because it is not capable of giving

an output when there is a steady error signal.

• It is used in conjunction with proportional control so that the limitations

of derivative control mode can be resolved.

𝐼(𝑠)
𝐶 𝑠 = = 𝐾𝑃 + 𝐾𝐷 𝑠
𝐸(𝑠)
Proportional (P) + Derivative (D) Control Mode

System specification changes by proportional + derivative control are,

• Reduce in rise time

• Reduce in time to first peak

• Reduce in settling time

Proportional (P) + Derivative (D) Control Mode
Integral (I) Control Mode

• The integral controller consists a rate of change of the control output

which is proportional to the input error signal.

• Integral control is a form of control which is based upon the integral of

the error signal.

𝐼 𝑠 1
𝐶 𝑠 = = 𝐾𝐼
𝐸 𝑠 𝑠

𝐾𝐼 – Integral constant
Integral (I) Control Mode

System specification changes by increasing the integral gain are,

• Steady state error will reduce and eventually will reach a minimum value.

• Time to first peak will decrease.

• Settling time does not change.

• Peak overshoot will increase.

Proportional (P) + Integral (I) Control Mode

• The integral mode of control is not usually used alone but is frequently
used in conjunction with the proportional mode.

𝐼 𝑠 1
𝐶 𝑠 = = 𝐾𝑃 + 𝐾𝐼
𝐸 𝑠 𝑠
PID Control Mode

• PID control is a form of combining all three forms of control

(Proportional, Integral and Derivative) into a single control.

• PID controller can compensate for the differences in each of the

individual methods of control while maintaining their advantages.

𝐼 𝑠 1
𝐶 𝑠 = = 𝐾𝑃 + 𝐾𝐷 𝑠 + 𝐾𝐼
𝐸 𝑠 𝑠
PID Control Mode

1
𝐾𝑃 + 𝐾𝐷 𝑠 + 𝐾𝐼
𝑠

1
𝑋 𝑠 𝐺 𝑠 𝐾𝑃 + 𝐾𝐷 𝑠 + 𝐾𝐼
= 𝑠
𝑅 𝑠 1
1 + 𝐺 𝑠 𝐾𝑃 + 𝐾𝐷 𝑠 + 𝐾𝐼
𝑠
PID Control Mode

Blue – Original response.

Green – Kp = KI = KD = 1
PID Control Mode

What Does PID Controller Actually Do?

• Proportional – Present

• Integral – Past

• Derivative – Future
- END -