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Control Logic & Proportional Control of 1st Order Plant Model

The document discusses control logic elements that act on error signals to produce control signals, focusing on control objectives such as minimizing steady state error and settling time. It describes two-position control actions, including on-off control and bang-bang controllers, as well as proportional control of first-order systems and their implications on actuator requirements. The document emphasizes the importance of managing disturbances and the trade-offs involved in achieving desired control outcomes.

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Samra Khalid
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7 views7 pages

Control Logic & Proportional Control of 1st Order Plant Model

The document discusses control logic elements that act on error signals to produce control signals, focusing on control objectives such as minimizing steady state error and settling time. It describes two-position control actions, including on-off control and bang-bang controllers, as well as proportional control of first-order systems and their implications on actuator requirements. The document emphasizes the importance of managing disturbances and the trade-offs involved in achieving desired control outcomes.

Uploaded by

Samra Khalid
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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Control Logic

 Control logic elements are designed to act on error signal to produce the control

signal

o Control Law

o Control Action

o Control Algorithm

 A non-zero error signal results from either

o change in input

o disturbance

 A general function of a controller is to keep the controlled variable near its

desired value

 Control Objectives

o Minimize steady state error

o Minimize settling time

o Achieve other transient specifications

Two Position Control Action

 On-Off Control Action

Example: Building Heating Control System


o Thermostat turns on /off the heating element as room

temperature rises or falls

o Thermostat has two functions

 Measure room temperature

 compare measured temperature with desired

temperature

 To decide to turn on or off the heating element (Control

Action)

Switching Diagram

 Neutral zone is provided to avoid

frequent on/off switching or chattering,

which can shorten the life of the device.


 Cycling frequency depends on

 Process/Plant time constant

 Magnitude of controlled signal

 Real systems do not respond instantaneously but have their own

time constant.

 Overshoot and Undershoot are acceptable only when time

constant of the process is large as compared to the time lag of

control elements, which is related to

 time constant of elements

 their distance from plant

 Bang-Bang Controller

o It can be considered as constant torque motor that can reverse quickly.

o Such a perfect switching is not possible

o Realistic model of Bang-Bang Controller has dead zone. If error signal is in

dead zone, then controller has no output.


Control of 1st Order System

Proportional Control of 1st order system

 A Linear Differential Amplifier that produces output signal proportional to error signal.

𝑓(𝑡) = 𝑘 𝑒(𝑡) → 𝐹(𝑠) = 𝑘 𝐸(𝑠)

We can combine differential amplifier gain and power amplifier gain into one unit

Motor input voltage is proportional to the difference between the command voltage and

feedback voltage from tachometer.

𝐼 → 𝑀𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝑖𝑛𝑒𝑟𝑡𝑖𝑎

𝐶 → 𝐷𝑎𝑚𝑝𝑖𝑛𝑔 𝐶𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑡

For a meaningful error signal, 𝑘 and 𝑘 should be chosen to be equal.


𝑃𝑟𝑜𝑝𝑜𝑟𝑡𝑖𝑜𝑛𝑎𝑙 𝐶𝑜𝑛𝑡𝑟𝑜𝑙𝑙𝑒𝑟 𝐺𝑎𝑖𝑛 → 𝑘 =

Transfer Functions are,

Ω(𝑠) Ω(𝑠)
= , =
Ω (𝑠) T (𝑠)

Reference Input Tracking: Ω(𝑠) = Ω (𝑠)

Steady State value of output for unit step input Ω (𝑠),

Ω = lim 𝑠 Ω(𝑠) = lim 𝑠 =


→ →

For Ω →1 ⟹ 𝐶 𝑠ℎ𝑜𝑢𝑙𝑑 𝑏𝑒 _______________ 𝑜𝑟 𝑘 𝑠ℎ𝑜𝑢𝑙𝑑 𝑏𝑒 ____________.

Time to reach steady state value,

𝑇 = 4𝜏 = 4 __________________

The output response can be computed as,

Ω (𝑡) =

Load (Disturbance) Effect: Ω(𝑠) =

T (𝑠)

For a unit step disturbance , 𝑇 (𝑠) =


Effect of disturbance on steady state value of output,

Ω = lim 𝑠 Ω(𝑠) = lim 𝑠 =


→ →

_______________ should be _________________ to

minimize the effect of disturbance on

steady state value of output.

The output response due to disturbance is,

Ω (𝑡) =

The total response of the system is combination of Ω (𝑡) and Ω (𝑡),

 In general, we want to reduce the effect of disturbance on output. In some applications, we

need zero disturbance response in steady state. In other applications, we might tolerate a

small non-zero disturbance response.

Actuator Requirement:

 It is important to predict the actuator requirements. The expression for motor torque 𝑇 can

be found from block diagram,

𝑇(𝑠) = =

For a unit step input Ω (𝑠) = , Transient response will be,

𝑇(𝑠) =

Torque decays exponentially to the value ________________________________


Maximum torque occurs at 𝑡 = 0 → 𝑇(0) = ________________________

o Larger the 𝑘 , More torque is required

o To decrease steady state error, we must increase 𝑘 ⟹ which results in high

starting torque.

o This has implications in size & cost of the motor to be used.

Disadvantages:

o Results in steady state error.

o Demands too large actuator output.

Advantages:

o Responds to error instantaneously.

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