Instructional objectives: At the end of this lecture students should be able to select control strategies to minimize steady state error reduce/eliminate the influence of a disturbance reduce the response time (rise time)
AME 455 Control Systems Design Practical example: Control of liquid level in a tank
qi
Level sensor
h
A- area of the tank
Load valve
For each application you have found list: is the s.s. error critical? is the rise time (response time) critical? q o what are the possible disturbances for the Ro -fluid given system? resistance 3-4min
AME 455 Control Systems Design Practical example: Control of liquid level in a tank
hsp set point Within the same group designate one person as a recorder, who will write down the equations, one person as a modeler and one as a questioner. The questioner asks the modeler questions relevant to the problem which will allow to build a transfer function of the system. Example: What are the inputs/outputs of the Load valve h systems? What physical laws relate with ? qo What can we assume as model of Ro -fluid component? A- area of the resistance etc. tank 6 min d (s)
Level sensor
qi
GOAL:
hsp ( s )
G1 ( s )
G2 ( s )
h( s )
Qsp ( s )
H (s) a 1 + bs
Uncontrolled system
a q sp a d0 hss = lim s s = a (q sp d 0 ) s 0 1 + bs s 1 + bs s
The set point and the disturbance have the same effect on the output!
+ -
Kp
a 1 + bs
H (s)
H sp = 0 H =
a 1 + bs 1+ K p Kp
a 1 + bs
D( s) =
a D( s) bs + K p a + 1
a K pa bs + 1 D=0 H = H sp ( s ) = H sp ( s ) a bs + K p a + 1 1+ K p 1 + bs
+ -
Kp
a 1 + bs
H (s)
H=
K pa bs + K p a + 1
H sp ( s ) +
a D( s) bs + K p a + 1
AME 455 Control Systems Design Disturbance rejection via integral control
D( s)
H sp ( s )
+ -
Ki
1 s +
a 1 + bs
H (s)
1 a Ka a as s H= H sp ( s ) + D( s) = 2 i H sp ( s ) + 2 D( s) 1 1 bs + K i a + s bs + K i a + s bs + K a + 1 bs + K i a + 1 s s K
hsp Kia d0 as = hsp hss = lim s 2 +s 2 s 0 bs + K i a + s s bs + K i a + s s
The INTEGRAL TERM eliminated the error completely, thus the disturbance was REJECTED.
H sp ( s )
a 1 + bs
H (s)
H=
Kia bs + K i a + s
2
H sp ( s ) =
Kia b
1 H sp ( s ) s Ka s2 + + i b b
x x
Ki2 K i1
Im
n =
1 Ka , n = , 2b b
By changing Ki, we can only move the poles along the dashed line, i.e. cannot speed up the system by moving the poles to the left.
1 2b
K i1
Re
x x
Ki2
D( s) = 0
s K d
+ +
a 1 + bs
H (s)
1 s
Ki
Ki a H ( s) = Kd s + H sp ( s ) H ( s ) 1 + bs s
aK d s 2 + K i a H sp ( s ) H (s) = aK 1 aK d + b 2 i s + s+ aK d + b aK d + b 1
n = aK i 1 , n = , aK d + b 2(aK d + b )
1 2 p = p1 p2 = v2 v12 2
A1v1 = A2 v2 = q
p1 , v1 , A1
A2 , p2 , v2
q= 2
A2 A2 1 A 1
2
When p = gh
q = 2 gh(t )
A2 A2 1 A 1
2
AME 455 Control Systems Design In real systems corrections are required due to viscosity and turbulence:
The flow coefficient Cf is found from experiments and is tabulated in reference books; it ranges from 0.6 to 0.9 for most orifices. Since it depends on the orifice and pipe diameters (as well as the Reynolds number), one will often find Cf tabulated versus the ratio of orifice diameter to inlet diameter, sometimes defined as ,
q (t )
1
2 gC 2 A f 0
(q(t ) q0 );
h(t ) = R(q (t ) q0 ); R =
1
2 gC 2 A f 0
h
h(t ) = R q (t ) q0 ;
q0
qo (t ) q0 =
& = q q Ah i o &=q Ah i h + q0 R q0 s
R R q0 Qi ( s ) + 1 + ARs 1 + ARs s
Linear valve
Rotary valve
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