Control Actions - System Compensation: Chapter Objective: - Control Action - PID Controller

Chapter 8
Control Actions System Compensation
Chapter Objective:
Control Action
PID Controller
Copyright ME, NUS. All Rights Reserved.

Control Actions System Compensation
Discusses the control actions typically used for the
controller.
What do you do if the systems output does not meet with
your requirements?
Apply the appropriate control actions to get it to respond closer to
what you want.
Feb-17 ME2142 Feedback Control Systems C8.2

Commonly Used Control Actions
Proportional (P) Control
where is the called the proportional gain.

Integral (I) Control
where is the called the integral gain.

Differential (D) Control
where is the called the differential gain.
Neither the integrator nor the differential controller are used on its own.
There are usually used in combination with the proportional controller.

Commonly Used Control Actions
Proportional-plus-Integral (PI) Control
where and are the proportional and integral gain, respectively.

Proportional-plus-Derivative (PD) Control

where and are the proportional and differential gain, respectively.
Proportional-plus-Integral-plus Derivative (PID) Control
where , , and are the proportional , integral gain, and differential gain,
respectively.
Sometimes is written in the form
1 - Integral Time
1
- Derivative Time

Effects of Control Actions
dc motor under speed feedback control
Example D
is output speed
R E T + + Km C is reference input
+
Gc is motor torque
Tm s 1
- is disturbance/load torque
Proportional Control with

unity feedback so H=1 1
1
1 1
1 1
1
The resulting system is still first-order and will always be stable.

The resulting time constant, , is reduced to a faster speed of response.
Steady-state error to unit step has changed from 1 to . Still
non-zero since the system is Type 0.

FB Response with Kp=1 Time Series Plot:FB Response with Kp=5
1.5 1.5
Reference r(t)
Reference r(t) Disturbance d(t)
Disturbance d(t) Output c(t)
Output c(t)
1 1
0.5 0.5
data
data
0 0
-0.5 -0.5
-1 -1
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
Time (seconds) Time (seconds)
0.8
Open-loop Response
0.6
0.4
0.2
0
0 1 2 3 4 5 6 7 8 9 10
Time (seconds)

Effect of Load Disturbance
With 0, the block

diagram becomes

Proportional (P) Control D
Let 0
Effect of Load Disturbance
R E T + + Km C
+
Gc
Tm s 1
-
D + Km C
Tm s 1
-
For a unit step disturbance
Kp
1
lim
1
1 1
Step disturbance causes the output
1 to have a steady state value.
Therefore speed regulation is
affected.
PI Control D
R E T + + Km C
+
Gc
Tm s 1
-
With PI control, the forward transfer function becomes

A Type 1 system: steady-state error to step input is zero.
Also,
where
Increasing Kp increases damping. Increasing Ki increases natural

frequency and reduces damping.

PI Control
D
Effect of Load Disturbance Let 0
R E T + + Km C
+
Gc
D + C Tm s 1
Km -
Tm s 1
-
Gc
For a unit step disturbance

1
1
1
lim 0

1
Disturbance has no effect on the
output in the steady state.

Response with PI Control with Kp=5, Ki=4 Time Series Plot:FB Response with Kp=5
1.5 1.5
Reference r(t)
Disturbance d(t)
Output c(t)
1 1
0.5 0.5
data
data
0 0
-0.5 -0.5
-1 -1
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
Time (seconds) Time (seconds)

dc motor under position feedback control
Example
R + E T Km C is output position
Gc is reference input
s(Tm s 1)
- is motor torque
is disturbance/load torque
1
Proportional Control with
2
/
2
1
The resulting system is a Type 1 second-order system.

Steady-state position error to a step input is zero.
Increasing increases and thus speed of response but reduces
damping.

dc motor under position feedback control
PD Control
R + E T Km C
Gc
s(Tm s 1) PD Control with
-
Open-loop transfer is
1
Closed-loop system remains a Type 1 system with zero steady-state
error to step inputs.
Closed-loop Characteristic Equation 1
1 0 1 0
2
1
0
Addition of derivative control allows damping to be increased
without affecting system type and natural frequency.
Kp = 2, Kd = 1.2
1.4
Reference r(t)
c(t) with PD
c(t) P only
1.2
1
C.L. Unit Step Response
0.8
0.6
0.4
0.2
0
0 2 4 6 8 10 12 14 16 18 20
Time (seconds)

Effect of PID gains to system dynamics
In general, the effects of increasing each of the PID
parameters , and can be briefly summarized as
follows:
PID Responses specifications

Paras RiseTime Overshoot SettlingTime SSError
Decrease Increase NT Decrease
Decrease Increase Increase Eliminate
NT Decrease Decrease NT
NT No definite trend
Note: This experience is generally true, but NOT always true.

PID Tuning
Ziegler and Nichols Tunning Rules
In many cases, the plant is so complicated that its model cannot be
easily obtained, then experimental approaches to the tuning of PID
controllers is needed.
An empirical rules.
Two approaches:
Ultimate gain approach
Based on Step Response
PID representation used
1
1
PID Plant
R + E C
Gc(s) Gp(s)
-

Ziegler and Nichols Tunning
Step Response Approach
PID Plant
R + E
Gc(s) Gp(s)
C 1
1
-
Base on the plant has the model of the form
1
Method:
Obtain the unit step response of the system
Tuning controller based on the table below:
P 0
PI 0.9 0
0.3
PID 1.2 2 0.5

Ziegler and Nichols Tunning
Ultimate Gain Approach
PID Plant
R + E
Gc(s) Gp(s)
C 1
1
-
Method:
Using proportional control action only, increase the output exhibits a sustained oscillation.
Take note of the critical gain value and its corresponding period
Tuning controller based on the table below:
P 0.5 0
1
PI 0.45 0
1.2
PID 0.6 0.5 0.125

PID Tuning Example
Consider the control system as shown below with a PID controller.
1
1
Lets use the ZN-Ultimate Gain Approach.

1. To determine the ultimate gain ( ) and ultimate period ( ). RouthArray
Setting and 0, the C.L.T.F is . 1 5
The C.L.C.E is 6 5 0. 6
From the constructed Routh Array, the sustained oscillation will occur 30
at 30. 0
At , the CLCE will have roots . Hence 6
6 5 30 0
5 6 5 0
5
The ultimate period can be calculated as
2
2.81 s
2. Tuning using The table in previous page.
PID Tuning Example
Consider the control system as
shown below with a PID controller.
Unit-Step Response
1.8 1.8
Reference r(t)
ZN-Tunned
1.6 1.6 Manual
1.4 1.4
1.2
1.2
Lets use the ZN-Ultimate Gain

1
Amplitude
0.8
0.8
Approach. 0.6
0.6
2. Tuning using and , we have 0.4

0.4
0.6 18 0.2
0.2
0.5 1.405 0
0 2 4 6 8 10
Time (seconds)
12 14 16 18 20
0.125 0.35124
0
0 5 10 15
Time (seconds)
1
18 1 0.35124
1.405
6.322 18 12.811
6 11.3223 18 12.811

The End


Control Actions - System Compensation: Chapter Objective: - Control Action - PID Controller

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Control Actions - System Compensation: Chapter Objective: - Control Action - PID Controller

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Chapter 8

Control Actions System Compensation

Copyright ME, NUS. All Rights Reserved.

Feb-17 ME2142 Feedback Control Systems C8.2

Proportional (P) Control

where is the called the proportional gain.

where is the called the integral gain.

where is the called the differential gain.

Feb-17 ME2142 Feedback Control Systems C8.3

where and are the proportional and integral gain, respectively.

Feb-17 ME2142 Feedback Control Systems C8.4

Proportional Control with

The resulting system is still first-order and will always be stable.

Feb-17 ME2142 Feedback Control Systems C8.5

Feb-17 ME2142 Feedback Control Systems C8.6

With 0, the block

Feb-17 ME2142 Feedback Control Systems C8.7

With PI control, the forward transfer function becomes

Increasing Kp increases damping. Increasing Ki increases natural

Feb-17 ME2142 Feedback Control Systems C8.9

For a unit step disturbance

Feb-17 ME2142 Feedback Control Systems C8.10

Feb-17 ME2142 Feedback Control Systems C8.11

The resulting system is a Type 1 second-order system.

Feb-17 ME2142 Feedback Control Systems C8.12

Feb-17 ME2142 Feedback Control Systems C8.14

PID Responses specifications

Feb-17 ME2142 Feedback Control Systems C8.15

Feb-17 ME2142 Feedback Control Systems C8.16

Base on the plant has the model of the form

Feb-17 ME2142 Feedback Control Systems C8.17

Feb-17 ME2142 Feedback Control Systems C8.18

Lets use the ZN-Ultimate Gain Approach.

Lets use the ZN-Ultimate Gain

2. Tuning using and , we have 0.4

Feb-17 ME2142 Feedback Control Systems C8.20

Feb-17 ME2142 Feedback Control Systems C8.21

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