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Control Concepts

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Close-loop Control
A controller is used to compare the error and output Different ways to react, called control modes Clock based control Event base control Combination of both
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Terminology
Lag: A change in condition being controlled does not immediately produce response Steady state error: The difference between the set value input and the output after the transient have died away
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Control modes
Two step mode Proportional mode (P) Derivative mode (D) Integral mode (I) Combination of modes: PD, PI, PID

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Two step mode

Temp.

It keeps a constant value of the variable by on and off Eg. Bimetallic thermostat Oscillation of controlled variable

on off T

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Two step mode

Can be avoided by, Instead of a single value of variable a range is specified called dead band Large dead band: large fluctuation of the variable Small dead band: increased the frequency of switching
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Proportional mode (P)

Size of controller output is proportional to the size of error Controller o/p is expressed as a % of the full range of possible o/p within the prop. Band Also, the error is expressed as a % of the full range of value
Prop. band

100%
Controlled o/p

set point 0% 0 error +

% change in controller output = Kp x % change in error

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The output is proportional to the error, Gain = xly. Output (movement) = (xly) x (the error)

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Ex.: a controller is an amplifier which gives an output which is proportional to the size of the input.

Terminology
Range The range is the two extreme values between which the system operates. A common controller output range is 4 to 20 mA. Span The span is the difference between the two extreme values within which the system operates, e.g. a temperature control system might operate between 0 C and 30 C and so have a span of 30 C.

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Terminology
Absolute deviation The set-point is compared to the measured value to give the error signal, this being generally termed the deviation.

Fractional deviation The deviation is often quoted as a fractional or percentage deviation, this being the absolute deviation as a fraction or percentage of the span.

Proportional mode (P)

Change in output = Iout Io = Kpe
Iout= o/p percentage at percentage error e Io = controller o/p at zero error Kpe = change in controller o/p from set point Taking laplace transformation Change in o/p (s) = Kp E(s)
Transformation func. =Change in output (s) / E(s) = Kp
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Derivative control
The change on controller o/p from the set point value is proportional to the rate of change with time of the error signal
Change in o/p of c. = Iout Io = KD(de/dt) Laplace transformation

(Iout Io)(s) = KD sE(s) Transfer func. = KD s

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Derivative control
error

It can react for a constant steady error. Thats why it is always employed with Proportional control

Controlled o/p

T
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PD Control
Change in o/p = Kpe + KD(de/dt)
error

Controlled o/p

Transfer func.=.

Prop. Element

Derivative Element

T
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PD Control
Change in o/p= Kp +KD (de/dt) Iout = Kp +KD (de/dt)+ I0
I0= o/p at set point

(Iout - I0)(s)= Kp E(s) + KD s E(s) Transfer function = KD (s+ 1/TD) TD= KD / Kp derivative time constant

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Integral Control
Rate of change of control o/p is proportional to the i/p signal dI/dt = KIe
error

Iout Io =

K e dt
I
Controlled o/p

Transfer Func.= (1/s) KI

T
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Digital Controller
Ana + Clock Measurement ADC Digi Micro-Pro Digi Ana Correction DAC Element O/P Process

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Digital Control
A Micro processor is in close loop control This receives inputs from sensors & provide o/p to the actuators. Components may have analogous signal so it uses ADC & DAC Clock supplies pulse to the control components
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Digital Control
Following cycle of events: Samples the measured value Compare it with set value & generate error Calculations & give O/P Send O/P to DAC Wait until next sample time
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Advantages & Disadvantages

Any mode of controlling can be applied at any instant of time by changing the only the program Many separate process => Single controller, by multiplexing Better accuracy (no drift with time, temperature etc.)
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Velocity control
Shows oscillations when controlled by P PD is a solution Use a second feed back, called vel. feed back. It may use a techo-generator for sensing rotational speed

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Adaptive Control
Adapts the changes and change the parameter (optimum) itself Based on use of microprocessor or micro controller Three stage of operation
Start operating at assumed condition Desired performance compared with actual Minimize the error
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1. Gain scheduled control

Pre-programmed adaptive control Preset change (table of values, selection) Only gain is changing Making table Quick

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1. Gain scheduled control

Adjustment Auxiliary measurement

+
Controller Correction process

measurement

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2. Self tuning control

Also called as auto-tuning It continuously tunes its own parameters based on monitoring the variable that the system is controlling and the output from controller Small disturbance created and then check the response Response compared to desired one, and parameter adjusted
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2. Self tuning control

Adjustment Parameter estimator

+
Controller Correction process

output

measurement

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3. Model reference adaptive systems

An accurate model of system developed Set value is fed to both model and actual system Difference between these two compared

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3. Model reference adaptive systems

model

+
Adjustment

+
Controller Correction process

output

measurement
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