Contollers

Digital tontrallees basi ally

,Ompatens They oonk arou
and on dis ceete cignab So icncepts
aliasing aee
asociafeA tampin
Anals g conteol onean8 design omd inplernsd.
inplertrtati
Con hinu ous dobtain Digtal oy,
system USeS digtal aynals sgalo and a dital onghe
conteol a peocos Analeg conteoler
the avarlable hard aamo leooeots o behave in
by
prPD ond PI D mode . Datel contrlor
in the. Sense toat
on eub
aelvanceA algehrthens Can cmplem a
changng Uthe preoqrtam
diatal onteol (DDc) s comm ony
Direct enal
ndteial auuho on abon . 94 es
ed in tomufeesR
(onsists & mcto pto ce%or /pcPc
(o nteoll ereb,and the contreol loqc ds per vaues otin
fane . A DC6
ioto SO that
vot con coork on them. he
cutput contooAeoagl
DAC logc
Anal on teol oleonents CeGuira
ox pneuomakc athuakoo
ahahon s
hyckaulic
ato mplshed
cleckeonic to pneuomake convenfems
(omponents aod DDC
The DDC
Com puter s oral part te
into qeal
 loop coit ADC and DAC The chown
beleuw chows the Conventonal conhnuous Contrel
- leop and Ae DDC conko) loop espe ckvely
seB point
from
tcansonc

Ai
to open

(convenhonal Hhs tonte-4-20

ol onA DC (on toibBe dpa c

treonsntet

ue to
OPen

lo prra

DDC Hoo contto) loop

he
The 'lechica ubing P/
cnto an
(?resune-to- cut rent) converfor .UTe e
ioto a vo ltkyd
urere ent bignal cb Convented nto
ond suppu to tie omputoeThe ADC oukout
i6 ubd by the cortrollee sbrcd in to (omputer
The cisoree te output
boclk into conknuous vdlley oinal
DAC, kich aqaun Convec.d
 preo clucinq
ch preum ake
oberafes te volve agnal io
3-5 Psi o
The shown belo o
dia gream proc os (ontrol loop coth digsk
Conhtoller The con hnvou
and saon plec
Kepesenfd

aahon Hold S Plant

)

A/D

Alock diagam digtal contrel lop)

The conteo leck varte able ts 6neasuRed and

ahere it is sonp le at a preedeteron inecl

Thevalue disoteke ptodefonon ine e
is theo
Cmared o m Sompler
te set poiot storted in tedigi taed value
cómputer. The saongin
pekiod ahich is the time behocon A Succovc
Eoenples 3% decidecd by the ype d pr CCe>
ond
dis hun bonce An
apropriate pm puter
Keprrennhog te centrolle Cralled the conteo
disorte
Controll output Thss ci'screfe
(o nveret. in
conbnuous alachrical sgna by

SneanS a DAC oollowecl

llowecl by a somple
Sam hold dedo
 The im poetant hao wome parts the
toteol loop are
) Sampl ee
4) Aoats h digtal convertee (ADC)
(e) Degildl to anslog onvertoe (DAC)
c)
()S'omple kold Cdovices
(a) Samplere
Ais a swith ,openakng at fxe inteevals
fine chen he Scoteh Jetoses
somples te sinal af tat cnstont tone .Thas
80uroe the
Soonpler i_ a Sores
a palses and
and the naniee
ench pulse to the omagnhide ohe
simel af the instart
ingtart acnplig
shown below.

(onhinuows
s'qnal
Somping at Samplel
Ts catdaas

(Baompled a moninoous syston)

Choice Somplng inteeval anc Aliascn g
The most importord ting
tonteol spteom interval seleckon ves
The smallee sngo pling
beter (onteoller design a th. leys distorehon.
Hence centeollee s becomo onoree peedicale o-rve
lekoe perfemonca
ates increeasec fue coot contdll or
ntakon because 6norte
compo nento coth very high saon plng ates hav
to be in6talled Antet.er hing s
high fen uency com ponet s suckas nocse all be
dphieed as coell
bamplin gcateeval
interval s hoo long hen
siqnal oss wll octue phenornenon is koau

To aveid aliosing the Sa onpli n rade

should be

Since
enaleto, changes flow loops
npling reate is level lops
the st mel Can TepLoo 30 see
 be Bompled at a o w Rate
Somple Hold Dovices
The cemputee train
oukput
digtol-to-anloy
cOnversion palses U tis cs
eSir
contreol signal t, on cnloss he devico Keceiving
this a puenp 'yalwe has iktslarato
pab the preac e oill be deiven by falses
thé
Tis es obviouslu nod accepBab le deivin fue value
ke at ceehain opehqcpeka ahen pulse is peeseht and
clos' te vaut in beh30en pulse To oven ahiel
Cprolem Qomple ho ld devho is cased
holols te DAC Mast Cconon o n
Rero-oKder Held (x04), uhere each pulse
held until te nezt pelsé Cornos
uk) kepr esentoa Saope
Suppose
inpat Gianal Theree
sactle u) and holding 4b pkt
taling ti's Chold consto
at uk) over ds intereval
This operahan holding 'a) (onstont
hold
Cver a

sarnplk ng timg is alled Ckoro-order

KOH in digetal domain

k)
D/A
hold

(t)

in anal domain)
 DDC
DDC
Tie 3 dastinc teng7ts
inproved opera kon
afto

() îorprov d eliciiveons
Since controlbe logaxy
log Can
6ense taat Get points an
fexib:b tho
Can be

) Dmprove operahonal efiienc

The capabilikes D DÈ Ke oeing Vsualizonks
DD,
and stotaqe data in varoiows orns(ond
data and
onalsis
naintenance sche dules inorease oporakonal
fcitngy te plant.

tnee rtoutine) Con be

in DDC etlby .

Gnsunphon Cpat eeos by ench bai! oronds

change a voious selJpeints , noukng in nl
Controller Roalizak
Dyd AA digtal tentrollex. accepts daete
seyuence e8oK oignals el) and conpata)
disnete SeYenc e d contrtol ackow
contro lay tat
domain domai a
 Theee comonony
naloq coktrgolk ens 'oP, P£
(a) Posikon Algorrdhon
(5) Velecih alsoritm
The eyuakon a PID ootrco) ach'on io
(ontovo usomain ts gien by

(2) 9n onch sampling per'o (r)

valae the preece output entors the computoc .
Let y( be the Sasmple value at he n Saan pl
n son! cmpated oth set point valag
at the same instont aich yeeldls te vale a
di Bcrete-ime enT) exprebed as eor)=

a)Then the disceete kime conte | achon pr ocluced by

P-mcdebased on ore
KpeoT) ore
T3) The conteol ackon prtoduecel by T-mcle ds
Faseo
ecl on the ioteqeakon (atienlahon ) oro
vere a tiono periocl USnco oreoe values an e avaihb,
d'sce cfe -tne basis , e ioteq ral elt) dt on
sl approxi nated Su on on ahon

2Te(k)

ven

+
T;
(1) Foe the dotivafie mode acion
ockon , we nee o
neuoneti oal evaluakon t he derivahve tertm de
de
PID one lar
the tonhrol achon d
a
So

This is caled poaikon algeritn taug t,

value caleulafe 6 the achaa nanpulatel
Variable,tahich mGoy cases reprtesents
represents an
ochabr (valve, pistoo ete) pesikon he necosit
tot inikalize e posihon algoeitn an be disnd
ke the (ontreoller The
to enSureQ son oth teongon
no tonteol o autmake conteo )4
) to mpuer fub
to espond ten the nesuhinq xeto catut coild

KOopbnd perc hops oth undesitab la Consequency

The conteal valve Posihon af o-) iad
Can be wreiten as

wdll Gubteacf
PD
The chonqein Cortrtel Valuo posckon s befee
he auso
be hene is neccl to coonpute te
inihalpes'hon kk valve

T
 ), -(1a4)e.
+
T; Ti en

heee
Ti T

B- -(kp t 2a k
T
Tha (onstarta A,8 anl c depend coteollee
pareamekereb and nonpbing periook Observing te
equahons }& poschon aloeesthm and valoaty algeete
term atsent ih te velocity lguetn
eahon. AAzeko ouipal
cukpat from conttolle onpies
Hhe achehor chocll hol te peoviaus posho
ali ch Under many Citeum stancos obulel repe sert
a
safe("fail -sof reoponsa
eeprese nts
The cnteqKaboo terem teachuall
co e ctive yummaha
Undet cauee chich i6
every samping instt. Thenc
te aee as at eveissum
at
to erive at this sum
changalor rale
bockard ecdangular mle
)
e) rapcKo idal ul e

susté ahen
within the
kl K
cuoglat) (huijancd
The
t'hoe eules aree lelr ion teron in Cas e
 forwond ictangelor tule

Ieapexoidal necfoogular le k;Teu

kas been
neclangalar peaon
a DD lonp
The tolow chart
as soon below
for
is
Star
nstants, steacy- stato
Reac contreol alqore thn oSnampling
algerethon ouipath valve, periodaIselpoint

9s sompinq

Give A/ Cornonand to eeacl

neoUsurRc Varriable

Cureont Rrtror =-Gefpoint Variable

The

inihal postio.
 Sum onaion operahion alich is useel toterm
aalaulate, the contibubon the ioteral
(an trtcate preoblems lendin to a phen om eno
knou n. as
nal oinduf,caling lon perio
overcan oots
Let us Sappo se that the Conteolled proces
+veand
A
6et point change
The conteoller oll erere ore

aloch
telwch is inikally tve The integeal on}
to
intcqrtal tenn. An oveashoodocers ahoreupon t4
anebey beceone -ve
-ve Howevet he kireckon tar
coteol siqnal oll not change to comptnbate te
tve er ore

dominate' case ho overshot be cosne

in alid
peelonqe - The dieech'on A teotedl achoo oil dany
CanceL
ool hen he coteibheton a -ve
- erreor

We acumulate +Ve ereior They

phenomenon s kncon a ote ral &ndup

reset windup in
to ove COne

posch'on
pper Conit Suonon abon

teron
The Gunnakon Can teroninate ahenve
be
rootrol elemeat sahte) and
cont o)umel ahen
Vaeicbl e ceturos atthin t,e

Velochy aleyothan
ioteqral kon is
Ltheo I n0
hene nn ahon teron in Case c
alyertthom.
 Exosnples

PID coote ol using trapecoidal ula inteopra

a 3
tora . Pind tedange
folaaing data ko-a, campling ine 0s,
ate deraivakve

An

So
e; +ei-.
iz0

fore gre Saonple , k-3

2.

a a-1 4 &xo:5 (2+) + (a-ato

G) Deri ve
PT'Dconheo ing buckee
ale fon intgyrahion torm
recfonqulor constant
Re teem ,(Rejocnce
inpt is
is
PI onteo the contrto in
Ans For
Aiurtete oon ds
T

Herte kefcrence inpat is Constont e

the iereoce equahon bemmos
k(e7-) + <pk TTeey ++<ok(er-8l,!
+

+ TK (%y)+ (ayd
 C. for e laing dherthe traner fnckon
obtain t,e
U)
2

Any
v(z)
E)

uk)1-1:az4o -(+* )e)

taking èn verese

e(«) + e(k -)

s7.A proc e>

eleonent and. a fieat orhec eleane ot in cagade
al chaacteci ainqparea onghets as Unery
a
PD ceotrolleg havi
pnoporhonal k and doeivabve timk
82e
teangen frchns
cther
dlosed lop bave uncly ransfon finchan Drpt
to the peoces s sun naho). ditre ba re
DG) ond outpat d ontrolletau
proces s Y(c)
(a) Dreac e peo ce% (ooteo loop .
()or k-32
re4eeoce
change
c) find Y9
As
hos The pD controller esuahon ès

70

P(S)

The
taofer funchoo a Hhe procehaving a
Cascad eolcombinakon
and a firt order eleentot cil

Preo ces
As all (onstonts s(it S)

(a) The pro ces conteol loop s

Rs) Yo)

Und
(9 The nefeente inpat s aostep change
Hhen R()
YG)
k+ }ls
s(sti) s(S+)
Yo)
k+llS
s(StI)
 S
|(3a +)S)
sH)as+ K s')28 +3a
te above

Bs+C 3a+|ls

gs125324tga))A
Sfs4a5 +3a) Sfsast:

’C= -)
3 &A = 32 > A )
S+
So Y)= t
6+186 + 3a
S+) St)

3
+

So Y )- +
)
+
|-z Y(z-") H(7-2")

3
4(7-)
Sa(1-z) x(1-z)7
+
(z-")
 Ererese Yeoblems
Derive the
Pr (onteol trape xo idal rule to
caladato
Ais for PI (ontrol , sing trape zoidal mle

eitei
The
be

e-ete+e
2T -)e
PT Contro)

v) - <)(+)e4)+-)e
e2) aT

& for RC Cieat ,derive ezpeon

he ic) and nd ik) in chsel-lop fron4
excitakon veHeye b a step injputa mamade
V vols
An R di
V
 both the sidey

As inpat
V volb , then
v;(5) -
S is) = V/R
S
S(6+Rc) sRC

Thon x- teanshron d i) will be

ie)-
Let tim
- - RCT

cont ant z-hr

i()

2.

(2-)(*-e

z(i-e)
I-i(ne)+z'¿h)
-e)X-o)izí-e
be -2

i()=0 0)--¿)ie)-y(-e