ME 304

CONTROL SYSTEMS
Radar Dish Mechanical Engineering Department,
Middle East Technical University

Armature Inside
controlled Outside θr input
p
dc motor θD output

θm

Gearbox
Control
Transmitter

θD

dc amplifier Control
Transformer Prof.
Prof Dr.
Dr Y.
Y Samim Ünlüsoy
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 1
 CH VIII
COURSE OUTLINE
I.
I INTRODUCTION & BASIC CONCEPTS
II. MODELING DYNAMIC SYSTEMS
III. CONTROL SYSTEM COMPONENTS
IV. STABILITY
V. TRANSIENT RESPONSE
VI. STEADY STATE RESPONSE
VII. DISTURBANCE REJECTION

VIII. CONTROL ACTIONS & CONTROLLERS

IX. FREQUENCY RESPONSE ANALYSIS
X
X. SENSITIVITY ANALYSIS
xI. ROOT LOCUS ANALYSIS

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 2

 CONTROL ACTIONS & CONTROLLERS
OBJECTIVES

In this chapter :
„ Basic control actions and
controllers, and their
characteristics
h t i ti will
ill be
b examined.
i d
„ Their applications will be
introduced.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 3

 CONTROL ACTIONS & CONTROLLERS

„ A controller is a device which

produces a control signal
p g that
results in the reduction of the
deviation of controlled output
p
from the desired value.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 4

 CONTROL ACTIONS & CONTROLLERS
„ The input to the controller is the actuating
error Ea(
(s),
), which is the difference
between
• the system
y response
p B(s)
B(s),
( ),
), as measured
by a sensor, and
• the reference signal R(s),
R(s), which
represents
t the
th desired
d i d system t response.

R(s)
( )+ Ea(
(s)
) M(s)
( ) C(s)
( )
Controller G(s)
-
B(s)
H(s)

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 5

 CONTROL ACTIONS & CONTROLLERS

„ Controller
t ll produces
d the
th manipulated
i l t d
input at its output to be applied to
th actuator.
the t t

R(s) + Ea(s) M(s) C(s)

Controller G(s)
-
B(s)
H(s)

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 6

 CONTROL ACTIONS & CONTROLLERS

„ A controller is required
q to shape
p the error
signal such that certain control criteria or
specifications, are satisfied.
„ These criteria may involve :
- Transient response characteristics,
characteristics,
- Steady
Steady--state error
error,,
- Disturbance rejection
rejection,,
- Sensitivity to parameter changes.
changes.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 7

 CONTROL ACTIONS & CONTROLLERS

Basic Control Actions :

„ A controller produces a control signal
(manipulated input) according to its input
which is the actuating error.
„ The algorithm that relates the error and the
control signal is called the control action
(law)(strategy).
( )( gy)
Control Action

Actuating Control
Controller
error signal

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 8

 CONTROL ACTIONS & CONTROLLERS
The most commonly used Control Actions
are :
1. Two position (on-
(on-off, bang
bang--bang),
2. Proportional (P-
(P-control),
3. Derivative (
(D-control),
(D- ),
4. Integral (I-
(I-control).
C
Controllers
ll to provide
id these
h controll actions
i
(with the exception of D-
D-control) and the
combinations of the last three are
commercially available.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 9

 TWO POSITION CONTROL
(Ogata pp.
pp 63-
63-64)

Two Position Control

For this type of control, the output of the
controller can have onlyy one of the two
possible values, M1 or M2.

m(t
e(t) M1 ) m(t) M1 for e(t)>0
e(t) m(t)=
M2 M2 for e(t)<0
controller

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 10

 TWO POSITION CONTROL

The value of M2 is usually

either

i) zero,
zero, in which case the e(t) M1 m(t)
controller is called the 0
on--off controller,
on controller, or
On off controller
On-off
ii) equal to - M1, in which
e(t) M m(t)
case the controller is
case,
called the bang
bang--bang -M
controller..
controller Bang bang controller
Bang-bang

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 11

 TWO POSITION CONTROL

In practice, the two position controllers exhibit

somewhat significant hysteresis (usually due to
friction), sometimes introduced intentionally to
prevent premature wear
wear--out of the switching
hardware. d

In this case the output e(t) M1 m(t)

switches to M1 only
M2
after the actuating error
becomes positive by an
amount d. Similarly it Differential gap
switches
it h b
backk tto M2 only
l
after the actuating error becomes equal to -d.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 12

 TWO POSITION CONTROL

The existence of a differential ggap p reduces the

accuracy of the control system, but it also
reduces the frequency of switching which
results
l ini longer
l operational
i l life.
lif

e(t) M1 m(t)

M2

Differential gap

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 13

 TWO POSITION CONTROL – EXAMPLE a
Consider the water level control system
illustrated in the figure.
g

+
Solenoid valve _ v
Input
Switch
qi

h Float R
C

qo

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 14

 TWO POSITION CONTROL – EXAMPLE b

Assume at first that the +

v
t k is
tank i empty.
t _

qi
In this case, the solenoid
will be energized opening
the valve fully. h R
C
Hence provided that qi>qo,
the water level will rise. qo

dh dh
qi - qo = C h = Rqo RC +h = Rq
qi
dt dt

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 15

 TWO POSITION CONTROL – EXAMPLE c
h(t)
Filling curve
The system is of first
(qi>qqo)
order
d and
d the
th variation
i ti
of water level versus
time is shown by the
Emptying
filling curve.
curve (qi=0)

dh
RC +h = Rqi
dt
t

If, at some time to, the solenoid is de-

de-energized closing
the valve completely, qi=0=0,, then the water in the tank will
drain off
off. The variation of the water level in the tank is
now shown by the emptying curve.
dh
RC +h = 0
dt
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 16
 TWO POSITION CONTROL – EXAMPLE d

If the switch is adjusted for a desired water

level, the input qi will be on or off (either a
positive constant or zero) depending on the
difference between the desired and the
actual water levels.
qi
If the clearances and
friction in the pivot
points are considered, e(t)=hd-h
the
h switching
i hi
characteristics are likely 2d
to have a certain amount
of differential gap.
gap.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 17

 TWO POSITION CONTROL – EXAMPLE e
h(t)
Filling curve Emptying
Therefore during
(qi>qqo) curve (qi=0)
)
the
th actual
t l
operation, input will 2d
be on until the
water level exceeds
the desired level by
hd
half the differential
gap.
t
qi
0
Then the solenoid valve will be shut off until the water
level drops below the desired level by half the differential
gap. The water level will continuously oscillate about the
desired level.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 18

 TWO POSITION CONTROL – EXAMPLE f

It should be noted
that, the smaller the Differential gap
differential gap is,
the smaller is the small
deviation from the
desired level.
But on the other large
hand,
hand the number of
switch on and off’s Δt
increases.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 19

 PROPORTIONAL CONTROL
Ogata p.65
p 65

Proportional Control (P-

(P-control)
„ With this
thi type
t off control
t l action,
ti a control
t l
signal proportional to error signal is
produced.
produced
M(s)
m(t)= Kp ea (t) =Kp
Ea (s)

R(s) + Ea(s) M(s) C(s)

Kp G(s)
( )
-
B(s)
H(s)

Kp : proportional g
gain.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 20
 PROPORTIONAL CONTROL

„ Approportional
p controller is essentially
y
an amplifier with an adjustable gain.
gain.
„ The value of Kp should be selected to
satisfy the requirements of
• stability
stability,
• accuracy, and
• satisfactory transient response,
response as
well as
• satisfactory disturbance rejection
characteristics.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 21

 PROPORTIONAL CONTROL
„ In general,
• For small values of Kp, the corrective
action is slow particularly for small
errors.
errors
• For large values of Kp, the performance
of the control system
s stem is improved.
impro ed But
B t
this may lead to instability.
„ Usually,
ll a compromisei is
i necessary in i
selecting a proper gain. If this is not
possible then proportional control action is
possible,
used with some other control action(s).

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 22

 DERIVATIVE CONTROL
Derivative Control (D-
(D-control)
„ In this case the control signal of the
controller is proportional to the derivative
(slope) of the error signal.
signal

dea ( )
(t) M(s)
m(t)=K
m(t) K d =K ds
dt Ea (s)

„ Derivative
D i ti control
t l action
ti is
i never used
d
alone,, since it does not respond to a
alone
constant error,
error however large it may be.
be

Kd : derivative gain (adjustable).

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 23
 DERIVATIVE CONTROL
„ Derivative control action
responds
d tto the
th ratet off change
h off
error signal and can produce a
control
t l signal
i l before
b f the
th error
becomes too large.
„ As such, derivative control action
anticipates the error,
error, takes early
corrective action, and tends to
increase the stability of the
system.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 24

 DERIVATIVE CONTROL

„ Derivative
D i ti control
t l action
ti has
h
no direct effect on steady
state
t t error.
„ But it increases the damping
in the system and allows a
higher value for the open loop
gain K which reduces the
steady state error.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 25

 DERIVATIVE CONTROL
Derivative control, however, has
di d
disadvantages
t as well.
ll
„ It amplifies
p noise signals
g coming
g in
with the error signal and may
saturate the actuator.
„ It cannot be used if the error signal
is
s not
ot d
differentiable.
e e t ab e
Thus derivative control is used only
together with some other control
action!

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 26

 INTEGRAL CONTROL
Ogata p.65

Integral Control (I-(I-control)

„ With this
thi type
t off control
t l action,
ti control
t l
signal is proportional to the integral of the
error signal.
signal
M(s) Ki
m(t)= Ki ∫ ea (t)dt =
Ea (s) s

R(s) + Ea(s) K M(s) C(s)

i
G(s)
( )
- s

B(s)
H(s)

Ki : integral
g g
gain (adjustable).
j
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 27
 INTEGRAL CONTROL
„ It is obvious that even a small error can
b d
be detected,
t t d since
i integral
i t l control
t l
produces a control signal proportional to
the area under the error signal.
signal
„ Hence, integral control increases the
accuracy of the system.
system
„ Integral control is said to look at the
pastt off the
th error signal.
i l

Large
g error – Small error –
e(t) small area large area

t
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 28
 INTEGRAL CONTROL
„ Remember that each s term in the
denominator of the open loop
transfer function increases the type
of the system by one, and thus
reduces the steady state error.
„ The use of integral controller will
increase the type of the open loop
transfer function by one.
„ Note, however, that for zero error
signal,
g , the integral
g control may
y still
produce a constant control signal
which may in turn lead to instability.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 29
 PROPORTIONAL + DERIVATIVE (PD)
CONTROL
„ Control action with p
proportional
p + derivative
(PD) control is given by
de(t) M(s)
m(t)=
( ) Kp e(t)+K
( ) p Td = Kp (1+ Tds )
dt E(s)

R(s) + E(s) M(s) C(s)

Kp (1+ Tds ) G(s)
-

B(s)
H( )
H(s)

Td : derivative time.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 30
 PROPORTIONAL + INTEGRAL (PI)
CONTROL
„ Control action with pproportional
p + integral
g
(PI) control is given by
1 M(s) ⎛ 1 ⎞
m(t)= Kp e(t)+Kp ∫ e(t)dt = Kp ⎜ 1+
1 ⎟
Ti E(s) Tis ⎠
⎝

R(s)
( )+ E(s) ⎛ 1 ⎞ M(s) C(s)
Kp ⎜1+ ⎟ G(s)
- ⎝ T s
i ⎠

B(s)
H(s)
Ti : integral time

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 31

 PROPORTIONAL + INTEGRAL + DERIVATIVE
(PID) CONTROL
„ Control action with p
proportional
p + integral
g +
derivative (PID) control is given by
de(t) Kp
m(t)=Kp e(t)+Kp Td + ∫ e(t)dt
dt Ti

R(s) + E(s) ⎛ 1 ⎞ M(s)

Kp ⎜1+ Tds + ⎟
- ⎝ T s
i ⎠
M(s) ⎛ 1 ⎞
= Kp ⎜ 1+ Tds + ⎟
E(s) ⎝ T s
i ⎠
B(s)
H(s)

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 32

 REALIZATION OF CONTROLLERS

„ Components in most control systems

can be mechanical, electrical,
hydraulic or pneumatic. In some
cases, sensors, controllers, and
actuators may be obtained from
combinations such as electro-
electro-
mechanical or electro-
electro-hydraulic
components.
„ See Ogata pp. 162-
162-188 for various
realizations of electrical,
electrical hydraulic,
hydraulic
and pneumatic controllers.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 33

 CONTROL ACTIONS - Proportional Control
„ Position Control of an Inertial Load
Disturbance
Di t b
Controller Dc motor+load
θr(s) + + + C 1 θ(s)
Kp
- + Js +b s
-

Kb

K : motor
t torque
t constant,
t t
Ra : armature resistance, C=K/ Ra
Kb : motor back emf constant,,
J : motor + load inertia,
b : viscous damping coefficient.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 34

 CONTROL ACTIONS - Proportional Control
„ Initially neglect disturbance, i.e. D(s)=0.
D motor+load
Dc t l d
Controller
θr(s) + + C 1 θ(s)
Kp
Js +b s
- -

Kb

Kp C 2 Kp C b+KbC
ωn = 2ξωn =
θ(s) J J J
=
θr (
(s)
) 2 b +Kb C Kp C
s + s+
J J b +Kb C 1
ξ=
2 JC Kp
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 35
 Kp C
ω2
n =
J CONTROL ACTIONS
b +Kb C 1 Proportional Control
ξ=
2 JC Kp
π−β −1 ωd
tr = β = tan
„ It is noted that increasing ωd ξωn
the pproportional
p g
gain :
π
i) Undamped natural tp =
ωd ωd = ωn 1 − ξ 2
frequency
q y of the system
y
is increased, thus the speed ⎛ ⎞
ξ
of response is increased. -π ⎜ ⎟
⎜⎜ 2 ⎟⎟
11-ξξ ⎠
ii) The damping ratio is Mp =e ⎝
decreased, thus the relative
3
stability of the system is t s ( 5% ) =
ξωn
reduced.
4
Note : ξωn is not affected by Kp ! t s ( 2% ) =
ξωn
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 36
 CONTROL ACTIONS - Proportional Control
„ Now, let us examine the steady state response.
Dc motor+load
Controller
θr(s) + + C 1 θ(s)
Kp
Js +b s
- -

Kb

Open loop
θr(s) Kp C θ(s)
transfer function :
+ Js2 + (b +Kb C ) s
- Kp C
G(s)=
s ⎡⎣ Js + (b +Kb C ) ⎤⎦

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 37

 CONTROL ACTIONS - Proportional Control
„ Classify the open loop transfer function.
First convert to standard form.
form
Kp C
G(s)=
s ⎡⎣ Js + (b +Kb C ) ⎤⎦

Kp C
b +Kb C
G(s)=
⎡ J ⎤
s⎢ s +1⎥
Thus, ⎣ b +Kb C ⎦

„ System
y type
yp is 1.
Kp C
„ The open loop gain is K=
b +Kb C

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 38

 CONTROL ACTIONS - Proportional Control
System type is 1.
Kp C
The open loop gain is K=
b +Kb C

„ Thus
Th th
the steady
t d state
t t error d
due to
t unit
it
step input will be zero.
„ The steady state error due to unit ramp
input will be finite. 1 b +Kb C 1
e ss= =
K C Kp

„ The steady state error due to unit ramp

input can be minimized by using a larger
value of the proportional gain.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 39
 CONTROL ACTIONS - Proportional Control
„ Now let us consider disturbance input only.
Disturbance
Controller Dc motor+load
+ + C 1 θ(s)
Kp
- Js +b s
-

Kb

D(s) C θ(s)
„ In this case,
Js2 + (b +Kb C ) s
+ the output itself
-
Kp will be the error.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 40

 CONTROL ACTIONS - Proportional Control
„ In this case, the output itself will be the
error.
D( )
D(s) C θ(s)
( )
Js2 + (b +Kb C ) s
+
-
Kp

⎛ C ⎞1
e ss= lims → 0 s ⎜ ⎟ = 1
⎜ Js2 + (b +Kb C ) s +Kp C ⎟ s Kp
⎝ ⎠
„ It is observed that for minimum steady
state error due to a step
p disturbance,, and a
ramp input, Kp must be as large as stability
requirements allow.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 41
 CONTROL ACTIONS
P
Proportional
ti l + Derivative
D i ti Control
C t l

„ If a p
proportional
p + derivative controller is
used :
Disturbance
Dc motor+load
Controller
+ C
θr(s) θ(s)
Kp ( Tds +1)
+ Js2 + (b +Kb C ) s
+
-

„ Neglecting θ(s) Kp C ( Tds +1)

=
di t b
disturbance (
θr (s) Js2 + b +Kb C+Kp TdC s +Kp C )

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 42

 CONTROL ACTIONS
P
Proportional
ti l + Derivative
D i ti Control
C t l

2 Kp C
ωn =
Kp C J
(1+ Tds )
θ(s)
= J (
b + Kb +Kp Td C )
θr (s) 2 b +Kb C+Kp TdC Kp C 2ξωn =
s + s+ J
J J
b +Kb C 1 1 CKp
ξ= + Td
2 JC Kp 2 J
Note that :
„ Derivative
D i ti control
t l does
d nott affect
ff t the
th
undamped natural frequency.
frequency. (Meaning ?)
„ Derivative time Td can be selected to
improve damping ratio.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 43

 CONTROL ACTIONS
Proportional + Derivative Control
Kp C (1+ Tds )
Kp C (1+
1 Tds ) b +Kb C
G(s)= =
s ⎡⎣ Js + (b +Kb C ) ⎦⎤ ⎡ J ⎤
s⎢ s +1⎥
⎣ b +Kb C ⎦

System type is still 1, thus the steady state

error for
f unit
it step
t input
i t is
i zero.
„ The steady state error for unit ramp input is
given
i as : 1 b +Kb C 1
e ss= =
K C Kp

„ Therefore, the derivative control has no

effect on the steady state error.
error.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 44
 CONTROL ACTIONS
P
Proportional
ti l + Derivative
D i ti Control
C t l
Dc motor+load
If the
th disturbance
di t b C
D(s) θ(s)
is taken to be the
Js2 + (b +Kb C ) s
only input
input, then +
-
the output θ(s)
Kp ( Tds +1)
will be the error.
Controller

⎛ ⎞
C ⎟1 = 1
ess = lims → 0 s ⎜
⎝ (
⎜ Js2 + b +K C +K T C s +K C ⎟ s Kp
b p d p ⎠ )

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 45

 CONTROL ACTIONS
Proportional + Derivative Control

It is observed that, if the disturbance

is taken to be the only input, the
steady state error (equal to the
steady state value of the output) for
a unit step input also is unaffected
by the inclusion of the derivative
control.
1
e unit step =
ss Kp

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 46

 CONTROL ACTIONS
Proportional + Derivative Control

„ In conclusion,
conclusion, the addition of derivative
control action to proportional control action
- is useful to provide additional control on
damping and hence improves relative
stability,
- has no direct effect on steady state error.
„ It may,
may however,
however be useful in reducing
steady state error indirectly by allowing the
use of larger values of Kp without causing
stability problems.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 47

 CONTROL ACTIONS
Velocity (Tachometer ) Feedback

„ Velocity
y or tachometer feedback can be
employed together with proportional
control to provide characteristics similar to
that
h off PD-
PD-control.l
Disturbance
Controller D motor+load
Dc l d
θr(s) + +
C 1 θ(s)
Kp
_ + Js + (b +Kb C ) s
_
Tachometer
Kt

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 48

 CONTROL ACTIONS
Velocity (Tachometer ) Feedback

„ Consider the case without disturbance.

Controller Dc motor+load
θr(s) + C 1 θ((s))
Kp
- Js + (b +Kb C ) s
-
Tachometer
Kt

θ(s) Kp C
=
(
θr (s) Js2 + b +Kb C +KpK t C s +Kp C )
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 49
 CONTROL ACTIONS
Velocity (Tachometer ) Feedback

„ Clearly, if you replace Td by Kt, the

characteristic equation is of the same form
as that of the PD-
PD-control case.
„ Thus the undamped natural frequency and
damping ratio expressions are again the
same, if one replaces
l Td by
b Kt.
θ(s) Kp C
=
(
θr (s) Js2 + b +Kb C +KpK t C s +Kp C )
Kp C b +Kb C 1 1 CKp
ω2 ξ= + Kt
n= 2 JC Kp 2 J
J

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 50

 CONTROL ACTIONS
Velocity (Tachometer ) Feedback

Kp C
Kp C b +Kb C+KpK t C
G(s)= =
⎣ (
s ⎡ Js + b +Kb C+KpK t C ⎤
⎦ ) ⎡
s⎢
J ⎤
s +1⎥
⎢⎣ b +Kb C+KpK t C ⎥⎦

System
y type
yp is 1,, thus the steady
y state error
for unit step input is zero.
„ The steady state error for unit ramp input is
given as :
1 b +Kb C +KpK t C 1 ⎛ b +Kb C ⎞ 1
e ss= = =⎜ ⎟ +K t
K C Kp ⎝ C ⎠ Kp

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 51

 CONTROL ACTIONS
Velocity (Tachometer ) Feedback

„ Now let us consider disturbance input only.

Disturbance
Controller Dc motor+load
+ C 1 θ(s)
Kp
- + Js + (b +Kb C ) s
-
Tachometer
Kt

D(s) C θ(s) „ In this case,

Js2 + (b +Kb C ) s the output itself
+
-
will be the error.
Kp (1+K t s )

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 52

 CONTROL ACTIONS
Velocity
V l it (Tachometer
(T h t ) Feedback
F db k

„ In this case, D(s) C θ(s)

the output
Js2 + (b +Kb C ) s
itself will be +
-
th error.
the
Kp (1+K t s )

C 1 1
e ss= lims → 0 s =
( )
Js2 + ⎡b +C Kb +KpK t ⎤ s +Kp C s Kp
⎣ ⎦

„ It is observed that disturbance response of

proportional control + velocity feedback is
the same as that of proportional +
derivative control.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 53
 CONTROL ACTIONS
Proportional
P ti l + Integral
I t l Control
C t l

„ If a p
proportional
p + integral
g controller is used :
Disturbance
Controller Dc motor+load
θr(s) +
⎛ 1 ⎞ C θ(s)
Kp ⎜1+ ⎟
⎝ T s
i ⎠ + Js2 + (b +Kb C ) s
+
-

θ(s) Kp C ( Tis +1)

„ Neglecting =
di t b
disturbance J 3 + (b +Kb C ) s2 +Kp TiC
θr (s) Ti Js Cs +Kp C

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 54

 CONTROL ACTIONS
Proportional + Integral Control

θ(s) Kp C ( Tis +1)

=
θr (s) Ti Js3 + Ti (b +Kb C ) s2 +Kp TiCs +Kp C

Note that :
„ Addition off iintegral
Additi t l control
t l action
ti to
t
proportional control action increases the
order of the system.
„ Thus, transient and steady response as
well as the stability and disturbance
rejection characteristics of the system will
be changed.
g
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 55
 CONTROL ACTIONS
Proportional + Integral Control
Kp C ( Tis +1)
Kp C ( Tis +1) Ti (b +Kb C )
G(s)= =
2
s Ti ⎡⎣ Js + (b +Kb C ) ⎤⎦ ⎡ 2 J ⎤
s ⎢ s +1⎥
⎣ b +Kb C ⎦
System type is now 2, thus the steady state
error for unit step and ramp inputs are zero.
zero
„ The steady state error for unit acceleration
i
input
t is
i given
i as :
1 Ti (b +Kb C ) 1
e ss= =
K C Kp

„ Therefore, the integral control can be used

to reduce steadyy state error.
error.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 56
 CONTROL ACTIONS
Proportional
P ti l + Integral
I t l Control
C t l
Dc motor+load
If the
th disturbance
di t b D( )
D(s) C θ(s)
is taken to be the Js2 + (b +Kb C ) s
+
only input
input, then -
the output θ(s) ⎛
Kp ⎜1+
1 ⎞
⎟
will be the error. ⎝ T s
i ⎠
Controller
⎛ TiCs ⎞ 1
ess = lims → 0 s ⎜ ⎟ ⎜⎛ ⎟⎞ = 0
⎜ Ti Js3 + Ti (b +Kb C ) s2 +Kp TiCs +Kp C ⎟ ⎝ s ⎠
⎝ ⎠
⎛ T Cs ⎞⎛ 1 ⎞ Ti
ess = lims → 0 s ⎜ i ⎟⎜ ⎟=
⎜ Ti Js3 + Ti (b +Kb C ) s2 +Kp TiCs +Kp C ⎟ ⎝ s2 ⎠ Kp
⎝ ⎠
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 57
 CONTROL ACTIONS
Proportional + Integral Control

If the
th disturbance
di t b is
i taken
t k to
t be
b the
th only
l
input, the steady state error (equal to
the steady state value of the output) for
a unit step disturbance input is zeroed
and the steady y state error for a unit
ramp disturbance input becomes finite
by the inclusion of the integral control.

Ti
e =0 e =
ss step ss unit ramp Kp

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 58

 CONTROL ACTIONS
Proportional + Integral Control

„ In conclusion,
conclusion, it is observed that the
addition of integral control action to
proportional control action
- is useful in reducing the steady state
error by increasing the type of the
open loop transfer function by one,
- changes
g the transient response
p
characteristics of the system by
increasing the order of the system,
making
ki the
th system
t more susceptible
tibl to
t
instability.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 59