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  • Response of Simple Control System Part 1

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    Lutfia Khasanah
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    1. A temperature control system uses proportional (P) control to regulate temperature in response to set point changes (servo problem) and load/disturbance changes (regulator problem). 2. For a set point change, the closed-loop transfer function is derived as T(s)/TR(s) = A1/(τ1s + 1), where the system reaches a new steady state equal to the set point with no offset. 3. For a load/disturbance change, the closed-loop transfer function includes additional terms to account for the disturbance input, with the system maintaining the original set point with some offset.

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    1. A temperature control system uses proportional (P) control to regulate temperature in response to set point changes (servo problem) and load/disturbance changes (regulator problem). 2. For a set point change, the closed-loop transfer function is derived as T(s)/TR(s) = A1/(τ1s + 1), where the system reaches a new steady state equal to the set point with no offset. 3. For a load/disturbance change, the closed-loop transfer function includes additional terms to account for the disturbance input, with the system maintaining the original set point with some offset.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    10 views9 pages

    Response of Simple Control System Part 1

    Uploaded by

    Lutfia Khasanah
    1. A temperature control system uses proportional (P) control to regulate temperature in response to set point changes (servo problem) and load/disturbance changes (regulator problem). 2. For a set point change, the closed-loop transfer function is derived as T(s)/TR(s) = A1/(τ1s + 1), where the system reaches a new steady state equal to the set point with no offset. 3. For a load/disturbance change, the closed-loop transfer function includes additional terms to account for the disturbance input, with the system maintaining the original set point with some offset.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    of 9

    RESPONSE OF SIMPLE

    CONTROL SYSTEMS
    Christyfani Sindhuwati, ST.,MT
    Temperature Control System Disturbance

    SP + e MV PV
    GC GV GP

    GM

    Ti(s)
    Condition :
    + • Tipe pengendali : P
    TR (s) + e Q(s) 𝟏 + 𝟏 T(s) 1
    GC GV • 𝐴 = 𝑤𝐶𝑝
    𝑾𝑪 𝝉𝒔 + 𝟏
    - • 𝜏= 𝑊
    𝜌𝑉

    Tm • Kv = 1
    GM
    • Sensor: fast dynamic
    Ti(s)

    +
    TR (s) + e Q(s) + 𝟏
    T(s)
    KC 1 A 𝝆𝑽
    𝒔+𝟏
    𝒘
    -
    Tm
    1

    Ti(s)

    +
    TR (s) + e Q(s) + 𝟏
    A
    T(s)
    KC 𝝆𝑽
    𝒔+𝟏
    𝒘
    -
    Servo Problem dan Regulator Problem

    Ti(s)

    + 𝜌𝑉
    TR (s) + e Q(s) + 𝟏
    T(s)
    𝜏=
    KC A 𝝆𝑽 𝑊
    𝒘
    𝒔+𝟏 1
    - 𝐴=
    𝑤𝐶𝑝

    Servo problem → Set point change (Ti’(t)=0)


    Closed-loop
    system
    Regulator problem → Disturbance change / load change (TR’(t)=0)
    Proportional Control For Set Point Change (Servo Problem)

    Ti(s)

    +
    TR (s) + Q(s) + 𝟏
    A
    T(s)
    KC 𝝆𝑽
    𝒔+𝟏
    𝒘
    -

    TR (s) + B 𝟏 T(s)
    KC A
    𝝉𝒔 + 𝟏
    -
    𝑦(𝑠)
    1 Susun persamaan fungsi transfernya atau cari 𝑥(𝑠)

    1
    𝑇 𝑠 = × 𝐴 × 𝐾𝑐 × 𝐵 𝐴𝐾𝑐 𝑇𝑅 𝑠 − 𝑇 𝑠
    𝜏𝑠 + 1 𝑇 𝑠 =
    𝜏𝑠 + 1
    𝐵 = 𝑇𝑅 𝑠 − 𝑇(𝑠)

    𝑇 𝑠 𝜏𝑠 + 1 = 𝐴𝐾𝐶 𝑇𝑅 𝑠 − 𝐴𝐾𝐶 𝑇(𝑠)

    𝑇 𝑠 𝜏𝑠 + 1 + 𝐴𝐾𝐶 𝑇(𝑠) = 𝐴𝐾𝐶 𝑇𝑅 𝑠

    𝑇 𝑠 𝜏𝑠 + 1 + 𝐴𝐾𝐶 = 𝐴𝐾𝐶 𝑇𝑅 𝑠

    𝑇(𝑠) 𝐴𝐾𝐶 𝑇(𝑠) 𝐴𝐾𝐶


    = =
    𝑇𝑅 (𝑠) 𝜏𝑠 + 1 + 𝐴𝐾𝐶 𝑇𝑅 (𝑠) 𝜏𝑠 + 1 + 𝐴𝐾𝐶

    𝑇(𝑠) 𝐴𝐾𝐶
    =
    𝑇𝑅 (𝑠) 𝜏𝑠 + (1 + 𝐴𝐾𝐶 )
    𝐴𝐾𝐶
    𝑇(𝑠) 1 + 𝐴𝐾𝐶
    =
    𝑇𝑅 (𝑠) 𝜏𝑠 1 + 𝐴𝐾𝐶
    +
    1 + 𝐴𝐾𝐶 1 + 𝐴𝐾𝐶
    𝐴𝐾𝐶 𝐴𝐾𝐶 𝐴𝐾𝐶
    𝑇(𝑠) 𝑇(𝑠) = 𝐴1
    1 + 𝐴𝐾𝐶 1 + 𝐴𝐾𝐶 1 + 𝐴𝐾𝐶
    = = 𝜏 Misalnya:
    𝑇𝑅 (𝑠) 𝜏𝑠 1 + 𝐴𝐾𝐶 𝑇𝑅 (𝑠)
    +
    1 + 𝐴𝐾𝐶 1 + 𝐴𝐾𝐶 1 + 𝐴𝐾𝐶 𝑠 + 1 𝜏
    = 𝜏1
    1 + 𝐴𝐾𝐶

    𝑇(𝑠) 𝐴1 𝐴1
    = 𝑇(𝑠) = × 𝑇𝑅 (𝑠)
    𝑇𝑅 (𝑠) 𝜏1 𝑠 + 1 𝜏1 𝑠 + 1

    2 Masukkan perubahan Set Point


    1
    Apabila set point diubah sebesar 1 satuan suhu, maka : 𝑇𝑅 𝑡 = 1 →𝑇𝑅 𝑠 = 𝑠

    𝐴1 1 𝐴1
    𝑇(𝑠) = × 𝑇(𝑠) =
    𝜏1 𝑠 + 1 𝑠 𝑠(𝜏1 𝑠 + 1)

    3 Cari invers dari persamaan output

    𝐴1
    𝐿−1 𝑇 𝑠 =
    𝑠(𝜏1 𝑠 + 1)
    −1
    𝐴1 𝐴𝐾𝐶
    𝐿 𝑇 𝑠 = = 𝐴1
    𝑠(𝜏1 𝑠 + 1) 1 + 𝐴𝐾𝐶
    Dimana:
    𝜏
    = 𝜏1
    𝑇 𝑡 = 𝐴1 1 − 𝑒 −𝑡/𝜏1 1 + 𝐴𝐾𝐶

    𝐾𝑐 𝐴 𝜏
    −𝑡/
    𝑇 𝑡 = 1 − 𝑒 (1+𝐾𝑐 𝐴)
    (1 + 𝐾𝑐 𝐴)

    4 Penentuan Offset
    Unit-step response for set point change (P control)
    𝑂𝑓𝑓𝑠𝑒𝑡 = 𝑆𝑃 𝑡 = ∞ − 𝑃𝑉 𝑡 = ∞
    𝑂𝑓𝑓𝑠𝑒𝑡 = 𝑇𝑅 𝑡 = ∞ − 𝑇 𝑡 = ∞
    𝑂𝑓𝑓𝑠𝑒𝑡 = 1 − 𝐴1 1 − 𝑒 −∞/𝜏1
    𝑂𝑓𝑓𝑠𝑒𝑡 = 1 − 𝐴1 1 − 0
    𝑂𝑓𝑓𝑠𝑒𝑡 = 1 − 𝐴1
    𝐾𝑐 𝐴
    𝑂𝑓𝑓𝑠𝑒𝑡 = 1 −
    (1 + 𝐾𝑐 𝐴)
    Proportional Control For Disturbance Change / Load Change (Regulator Problem)
    Ti(s)

    +
    TR (s) + B C + D 𝟏 T(s)
    KC A
    𝝉𝒔 + 𝟏
    -

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