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MARINE
Introduction
History of Control
Been used since antiquity for
control of Mechanical systems.
Babylonian and Greek
development of Water Clock
Feedback Control;
Such as a float valve, controlling
temperature, speed or fluid levels
MARINE
Introduction
Proportional-Integral-Derivative
(PID) control accounts for more than 90% of
In this lecture;
Primarily because;
Effective and simple to implement.
Originally intended for linear, time-invariant
systems
The influences of
Proportional, Integral and
Derivative aspects
MARINE
Introduction
A common actuator is a DC motor
Provides
Direct rotary motion or, via
drums and cables, translational
motion
The Stationary magnetic field
provides a force on a current
carrying conductor
For control purposes, there is
Input - voltage - u
Output - rotational velocity - y
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Introduction
Characteristics
RPM
Voltage
RPM
Time
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Proportional Control
Controller
Input U
Voltage
System
Output Y
Motor Speed
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Proportional Control
Input U
Output Y
Controller
System
Sensor
Proportional Control
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Desired Output D
Output Y
G1 (s)
Imaginary
G2 (s)
Y = G1 (s) G1 (s) D
G1 (s)
Desired Output D
Stable
Unstable
Output Y
G2 (s)
Y = G1 (s) + G1 (s) D
Real
Desired Output D
Output Y
+_
G1 (s)
G2 (s)
Y=
G1 (s)
1 + G1 (s)G2 (s)
xD
Proportional Control
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+_
Complex
Stable
Input U
Voltage
Output Y
Motor Speed
6.5
K=2
12s + 1
Unstable
K 6.5
Real
12s + 1
Y=
1+
xD
K 6.5
12s + 1
K 6.5
xD
=
12s + K 6.5 +1
=
13
12s + 14
xD
Proportional Control
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+_
Input U
Voltage
10s + 1
K 1.5
m3/s
K 1.5 +1
1.5
Output Y
Ventilation Rate
Y = K 1.5
xD
10s + K 1.5 +1
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Integral Control
Desired
Output D
+_
Input U
G (s)
Output Y
duration
Summing error over time gives an
Y=
1+ K
Y=
G (s)
1
S
xD
G (s)
K G (s)
s + K G (s)
xD
Integral Control
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+_
Input U
Voltage
10s + 1
K 1.5
m3/s
K 1.5
1.5
Output Y
Ventilation Rate
Y = K 1.5
xD
10s2 + s +K 1.5
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Derivative Control
Desired
Output D
+_
Input U
Output Y
G (s)
Ks
K s G (s)
1 + K s G (s)
xD
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Control Requirements
Important considerations;
Control Combinations
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Proportional
Derivative Control
Desired
Output D
+_
Input U
Output Y
G (s)
Kp +Kd s
Used;
Avoids;
G( Kp +Kd s)
xD
m3/s
1 +G( Kp +Kd s)
Desired
Output D
+_
Kp
+_
Input U
Output Y
G (s)
Time
Alternative Form;
Kd s
Control Combinations
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Proportional
Integral Control
Used;
Ensures;
.
However;
.
predominantly 1ST
Desired
Output D
+_
Kp + KI
Output Y
G (s)
G( s Kp +KI )
xD
m3/s
s +G( s Kp +KI)
Desired
Output D
+_
Time
Alternative Form;
KI
1
S
+_
Input U
Output Y
G (s)
Kp
Control Combinations
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Proportional Integral
Derivative Control
Output Y
Desired
Output D
Used:
Where system is 2ND or high order
Ensures;
Setpoint tracking with zero steady state error
Allows;
Faster response without oscillatory nature of PI control
Greater influence of error response, degree of overshoot
and oscillation
+_
Kp + KI
1
S
Input U
+ Kd s
G(s2 Kd + s Kp + KI)
m3/s
Time
G (s)
xD
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Manually :
Set KI & KD to zero, increase KP until
response begins to oscillate, then halve it
Increase KI until steady state error is
eliminated, (but not too much! )
Increase KD until system responds
sufficiently rapidly (but not too much! )
ZieglerNichols method
Set KI & KD to zero, increase KP until
response begins to oscillate;
Defined as Critical Gain KC with an
Oscillation Period PC
Kp
KI
Kd
0.50Kc
PI
0.45Kc
1.2Kp / Pc
PID
0.60Kc
2Kp / Pc
KpPc / 8
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Conclusions
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Any Questions ?
Classical Control Theory
Proportional - Integral - Derivative