TYPES OF CONTROLLER USES FOR THE SYSTEM

Figure x shows the schematic diagram for a Crane Shipping System.

The type of controller used for this Crane Shipping System is Proportion-Integral
Control. The integral control mode is designed to eliminate the proportional-mode control
offset inherent in it. It produces a control signal that depends on the offset's absolute value.
The integral mode does not run on its own. It is used in the controller segment of a closed-
loop system along with the proportional control mode.
In the Crane Shipping system shown in figure x, the function of the integral control
mode is illustrated . It displays the same circuitry, with an additional amplifier that performs
the integral operation, as the proportional-only controller. The second op amp is called
integrator.
The integrator resembles an inverting op amp . The difference is that the capacitor
replaces the feedback resistor. The capacitor works like a short circuit at the first point when
a DC voltage is applied to its input. Recall that the gain of the inverting op amp depends on
the feedback resistance ratio (Rf) and the resistance of the input (Rin). Gain= Rf/Rin.
Therefore, since the capacitor in the feedback loop initially has low impedance, the
integrator's gain is very low. The output voltage is also low.

However when the capacitor starts to charge, the capacitor lowers the current
charge. It raises its impedance until it is fully charged, at which point it behaves like an open
switch. The result is that the Rf/Rin ratio increases, the op amp gain increases, and
saturation is reached by the output voltage. The magnitude of the output of the integrator is
proportional to the voltage input and the length of time the voltage is applied.
For the crane to move, the computer sends out a command signal. The proportional
function of the controller responds to the shift in the setpoint immediately and drives the
motor. The boom (overhead crane) moves in the computer-commanded direction, but stops
just short of the desired location. The proportional mode has completed its response to the
change in command setpoint. The setpoint voltage and the feedback voltage are not the
same because the boom is out of range and does not hit the desired spot. The result is that
steady-state error is present at the output of the op amp differential. This voltage is not
adequate for the remaining distance to push the boom (overhead crane). The integral mode
takes over at this stage. The steady-state error is fed to the op amplifier integrator.
The longer the error occurs, the higher the integrator op amp's output voltage
becomes. With the small amplified offset voltage of the proportional amplifier output, the
rising integrator error signal is summed up. Until the boom(overhead crane) enters the
desired position, the power amp receives enough input to turn the motor shaft. It then
removes the steady-state error. The integral action proceeds to reset the gain in the amplifier
until the setpoint values are equal to the system variable.