Contollers

Mechanical Measurements & Control

7-9

Control Actions & Controllers

frrol

ff

contraller

I hlet
Y

action

(t) = *, I e(t)dt+P(0)
0

valve

where P(t) = controller output at any time 't' (7o)

e(t) = error signal at time ,t' (7a)
.
P(0)= controlleroutpurart=01(%)
and Ki = integral action factor ( Vo,/s ),/t4o
Eq. 7.5 implies that the controller oueur p (t) at any rime 't' depends on the
history of errors observed over a time interval starting at t = 0. Deriving Eq. 7.5

cofiroller

w.r.t. time, we get

dp(t)
clt = Kie(t)
Inplication of 8q.7.6 is that rate of

,,,,,(7,6)

change of controller output is directly

proportional to the error. Thus, when the error doubles, the time rate of con[oller
output change also doubles. Hence there is no ofl'set with integral control, since the
output keeps changing as long as any error persists. However. the initial response to
an error is slow, and proportional control is ordinarily used with integral coltrol.

i
i

The characteristics

enumerated irs fbllows

i $c control
I

Fonds

fuller

to

(i)

the

would

of the integral action as evidenced by Eq. (7.5) cnn be

implies that P (t) = p(0). Thus filr no error, the outpur of an

integral controller stays fixed at a value equal to what it was when t]te error

e(l) = 0

became zero.

(ii)

If the error is not zero. the integral controller output increses or

a rate oI'Kl percent / second tbr every I Va of eror.
.

srnce

(iii)
7.5.1

(P+l)

decreases at

dP(t\
= Kt e(i)
Jt-

For direct action, a positive error over a particuliu time spim produces
increase in the controller output in the integral mode.

an

Control Action:

It was indicated in the last section, the proportioltal control is ordinarily used
integral control, giving rise to t.he composite mode of proportional-integral
control action. The reset or integral action corrects fbr Lhe off-set that characteri-zes
the proportional control action. The eff'ective result of the composite ( p + t) actron is
equivalent to manual adlustment or resetting of the set-point ifter each load
chiurge.
Mathematic,lly. thc ( P + I l uction ulm hc representeti hy thu relation.
t
wit}

gral of

the

P(

t\

Koe(t)+Kp xi Je(t){lt + Pi(0)

0

(t)
(/)

controllcr output ot iuty timc,

error a[ time

t,

""'

(7 '1)