D227 – CONTROL SYSTEMS ENGINEERING

Q 8 2003

The temperature θ(s) of a room depends on the heat energy input Φ(s) and the transfer functio
relating them is:
Φ(s) 8
= 2
θ(s) s + 8s + 80
A PID controller is used with unity gain position feedback. The heater transfer function is 5. The
controller gain is set to 2.

(a) Calculate the value of derivative time control required to give a closed loop damping ratio of
unity if there is no integral action.

(b) Calculate the limiting value of integral time that may be used together with the derivative time
already found before instability occurs.

First construct a block diagram

G1 with no integral control is 2(1 + s τd)

The open loop transfer function is

θ 80(1 + sτ d )
G ol = o ( s ) = G1G 2 G 3 = 2(1 + sτ d ) x 5 x 2
8
= 2
θe s + 8s + 80 s + 8s + 80

G ol 1
The closed loop transfer function is G cl = or
1 + G ol 1
1+
G ol
θo 1 1 80(1 + sτ d )
G cl = = = =
θi 1 + 1 s + 8s + 80 80(1 + sτ d ) + s 2 + 8s + 80
2

80(1 + sτ d ) 1+
80(1 + sτ d )
s 2 + 8s + 80

θo 80(1 + sτ d ) 80(1 + sτ d )
G cl = = =
θ i (80 + 80sτ d ) + s 2 + 8s + 80 s 2 + (8 + 80τ d )s + 160
The characteristic equation is s 2 + (8 + 80τ d )s + 160 = 0

This could also be found from 1 + Gol = 0

80(1 + sτ d )
1+ 2 =0
s + 8s + 80
s 2 + 8s + 80 + 80(1 + sτ d ) = 0
s 2 + s(8 + 80τ d ) + 160 = 0
ωn = √160 = 12.65 rads/s 2δωn = 8 + 80τd
δ = 1 2ωn = 25.3 = 8 + 80τd
17.3 = 80τd τd = 0.216
Plotting the root locus confirms this.
The roots of s 2 + (8 + 80τ d )s + 160 = 0 are
- 4 - 40τ d ± 4 − 9 + 20τ d + 100τ d2

Remember that δ = cos(α) and so is the point

where α = 0o (measured from the negative real
axis)and is the breakaway point which occurs at τ
= 0.216.

⎧ 1 ⎫
(b) G1 with integral control is 2 ⎨ 1 + + sT d ⎬
⎩ sT i ⎭

The open loop transfer function is

⎛ 1 ⎞
80⎜⎜1 + + sTd ⎟⎟
θ ⎛ ⎞
= ⎝2 ⎠
1 8 sTi
G ol = o ( s ) = G1G 2 G 3 = 2⎜⎜1 + + sTd ⎟⎟ x 5 x 2
θe ⎝ sTi ⎠ s + 8s + 80 s + 8s + 80

1
The closed loop transfer function is G cl =
1
1+
G ol
θo 1 1 80(1 + sτ d )
G cl = = = =
θi
1+
1 s + 8s + 80
2
⎛ 1 ⎞
1+ 80⎜⎜1 + + sTd ⎟⎟ + s 2 + 8s + 80
⎛ 1 ⎞ ⎛ 1 ⎞ ⎝ sTi ⎠
80⎜⎜1 + + sTd ⎟⎟ 80⎜⎜1 + + sTd ⎟⎟
⎝ sTi ⎠ ⎝ sT i ⎠
s + 8s + 80
2

⎛ 1 ⎞ ⎛ 1 ⎞
80⎜⎜ s + + s 2 Td ⎟⎟ 80⎜⎜ s + + s 2 Td ⎟⎟
θ ⎝ Ti ⎠ ⎝ sTi ⎠
G cl = o = =
θi ⎛ ⎞
⎜⎜ 80s + + 80s 2 τ d ⎟⎟ + s 2 + 8s + 80 s (1 + 80τ d ) + s(88) + 80 +
80 2 80
⎝ Ti ⎠ Ti
The characteristic equation is