Module-3 of Control System

Controller and Compensator Design
Module-3
Outline
 Controllers – P, PI, PID controllers
 Realization of basic compensators
 Design of lag, lead, lag-lead series compensator
 Introduction to control system components:

 DC and AC servo motors, stepper motor and synchros.
2 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

Components of Automatic Control
System

Controllers
 It is a device introduced in the system to modify the error
signal and to produce a control signal.
 The manner in which the controller produces the control
signal is called the control action.

Controllers

Proportional Controller (P-Controller)
 The P-Controller is the device that produces the control signal,
u(t) proportional to the input error signal, e(t).

Proportional Controller (P-Controller)
 The P-Controller amplifies the error signal by an amount of Kp.
 Increases the loop gain by Kp
 The increase in loop gain improves steady state tracking
accuracy, disturbing signal rejection and relative stability.
 But increasing the gain to very large values may lead to
instability of the system.
 The drawback of the P controller is it leads to a constant
steady state error.

Example: P-Controller






Integral Controller (I-Controller)
 The I-Controller is the device that produces the control signal,
u(t) integral to the input error signal, e(t).

Proportional + Integral Controller
(PI-Controller)
 The PI-Controller is the device that produces the control
signal consisting of two terms: One proportional to the input
error signal and other integral to the input error signal, e(t).

(PI-Controller)

(PI-Controller)
 The advantages of both P and I controllers are combined
 The P action increases the loop gain and makes the system less
sensitive to variations of system parameters.
 The I action eliminates or reduces the steady state error
 The I action is adjusted by varying the integral time.
 The change of Kp affects both P and I parts of Control action
 The invers of the Integral time Ti is called the reset state

Example PI Controller




Proportional + Integral + Derivative
Controller (PID-Controller)
 The PID-Controller is the device that produces the control signal consisting of
three terms: One proportional to the input error signal, second one integral
to the input error signal and the third one derivative to the input error signal .

Proportional + Integral + Derivative
Controller (PID-Controller)
 The PID controller harvests all the advantages of Proportional,
integral and derivative control actions.
 The P controller stabilizes the gain but produces steady state
error.
 The I controller reduces or eliminates the steady state error.
 The D controller reduces the rate of change of error.

Example PID controller





P-Controller : S domain

PI-Controller : S domain

PID-Controller : S domain

Problems

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Problems

COMPENSATORS
 A device inserted into the system for the purpose of satisfying
the specifications is called compensator.
 Definition:
 When a set of specifications are given for a system, then a suitable
compensator should be designed so that overall system will meet the given
specification.
 Types of electrical or electronic compensators:

 Lag compensator
 Lead Compensator
 Lead Lag Compensator

COMPENSATORS
 Compensation is required in the following situations:
 When the system is absolutely unstable, then compensation is
required to stabilize the system and also to meet the desired
performance.
 When the system is stable, compensation is provided to obtain the
desired performance.
 The system with type 2 and above are usually absolutely unstable
system, hence lead compensator will be used which will increase the
margin of stability.
 The system with type 1 and 0, stability is achieved by adjusting the
gain, in these cases any of the 3 compensators will be used

LAG Compensator
 A compensator having the characteristics of a lag network is
called as lag compensator.
 If a sinusoidal signal is applied to a lag network, then in the steady state
the output will have a phase lag with respect to the input.
 It results in a large improvement in steady state performance, but
results in slower response due to reduced bandwidth.
 The attenuation due to lag compensator will shift the gain cross over
frequency to a lower frequency point where the phase margin is
acceptable.
 Lag compensator is a low pass filter.
 If the pole introduced by the compensator is not cancelled by a zero in
the system, then the lag compensator will increase the order of the
system by one.

S-Plane representation of Lag Compensator

S-Plane representation of Lag Compensator

Frequency response of LAG Compensator



Problem

Design Steps

Design Steps

Design Steps

Problem

DC Motor
 A motor is an actuator, converting electrical energy in to
rotational mechanical energy.
 Motor requiring DC supply for operation is termed as DC
motor.
 DC motors are widely used in control applications like
robotics, tape drives, machines and many more.
 Separately excited DC motors are suitable for control
applications because of separate field and armature circuit.
 Two ways to control DC separately excited motors are:
 1.Armature Control.
 2. Field Control.

Armature Controlled DC Motor
 DC motor consists of two parts i.e. rotor and stator.
 Stator consists of field winding while rotor (also called
armature) consists of armature winding.
 When both armature and field are excited by DC supply,
current flows through windings and magnetic flux proportional
to the current is produced.
 When the flux of field interacts with the flux of armature, it
results in motion of the rotor.
 Armature control is the most common control technique for
DC motors.
 In order to implement this control, the flux is required to be
kept constant. .
















Field Controlled DC Motor
 Basically in a field controlled dc motor, the armature current is
kept constant (via some constant voltage source)
 While the field current is varied which will vary the field flux
and interacts with the armature of motor and produce
rotation.












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Controller and Compensator Design

 Realization of basic compensators

 Design of lag, lead, lag-lead series compensator

 Introduction to control system components:

2 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

3 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

4 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

5 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

6 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

7 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

8 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

9 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

10 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

11 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

12 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

13 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

14 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

15 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

16 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

17 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

18 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

19 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

20 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

21 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

22 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

23 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

24 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

25 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

26 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

27 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

28 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

29 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

30 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

31 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

33 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

34 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

35 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

36 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

37 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

38 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

39 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

40 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

41 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

42 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

43 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

44 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

45 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

46 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

47 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

48 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

49 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

50 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

 Types of electrical or electronic compensators:

51 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

52 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

53 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

54 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

55 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

56 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

57 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

58 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

59 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

67 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT

68 Dr. R.K.Mugelan, Asst. Prof. (Sr), SENSE, VIT