PID Slides

10/28/2015
Lesson 16: Basic Control

Modes
ET 438a Automatic Control Systems Technology
lesson16et438a.pptx 1
Learning Objectives
After this presentation you will be able to:
 Describe the common control modes used in analog

control systems
 List the characteristics of common control modes
 Write the time, Laplace and transfer functions of common
control modes
 Identify the Bode plots of common control modes
 Design OP AMP circuits that realize theoretical control
mode performance.
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Control Modes-Proportional
Control Action
Process characteristics for optimum results:
1) Small process capacitance

2) Rapid load changes
Limitations: Small steady-state error may require high gain to

achieve acceptable error levels
Mathematical representations
Where: e = time domain error signal
Time function: v  K p  e  vo Kp = proportional gain
vo = controller output with e=0
v = controller time domain output
Laplace function: V(s)  K p  E(s)
Note: Initial condition vo=0 on
Laplace function
V(s)
Transfer function:  Kp
E(s) lesson16et438a.pptx 3
Proportional Control Frequency

Response
Bode plots of three values of Kp: Kp1=0.1, Kp2=1, and Kp3=100
60
Note: gain is independent

Kp3 40
of frequency.
Gain (dB)
20
Practical realization:
Kp2 0
Non-inverting OP AMP
Kp1 20
circuit
40
1  10 1  10
3 4
1 10 100
Frequency (rad/sec)
Kp1
Kp2
Kp3
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Motor Speed Control

Example 16-1: Determine the effect of applying proportional control
to the block diagram shown below. The motor produces the following
results with the control loop open:
TL1 = 0.05 N-m TL2 = 0.075 N-m (50% increase in load)

VT = 19.24 Vdc VT=19.24
Ia1 = 1.033 A Ia2 = 1.45 A
w1 = 300 rad/sec w2 = 291.7 rad/sec
r + e v VT w
Controller Power Motor &
Kp Supply Gamp Load
-
cm Tach
Generator, Ktac
Motor Speed Control

Motor Parameters:
Tf = 0.012 N-m Ra = 1.2 ohms

KT = 0.06 N-m/A Ktac = 0.11 V-sec/rad
Ke = 0.06 V-sec/rad KpGamp = 10 V/V
Solution: Find the error produced and the setpoint value, r. Then
write equations around control loop.
e1  r  c m1
r + e1
KpGamp=10 VT = 19.24 V e1 
VT
K p G amp
-
cm1 w =300 rad/sec
Ktac= 0.11 V-s/rad
cm1  K tac  w  0.11 V - s/rad  (300 rad/s )  33 V

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Example 16-1 Solution (2)

Combine equations
e1  r  c m1
VT VT
VT
 r  c m1   c m1  r
e1  K p G amp K p G amp
K p G amp
19.24 V
Substitute values  33 V  34.924 V
10V/V
Simplify r  34.924 V
Compute error e1  r  c m1
Substitute values e1  34.924  33.0 V
Simplify e1  1.924 V
The initial setpoint value of r=34.924 V with an error of 1.924 V at a speed of 300
rad/s and TL1=0.05 N-m

When torque increase to TL2=0.075 N-m new VT is defined by…
VT 2  (r  c m 2 )  K p  G amp
Substitute in Tachometer formula

VT 2  (r  K tac  w2 )  K p  G amp
Since setpoint, r does not change error must change due to measured
speed change.
Motor equations VT 2  I a 2  R a  e b 2
e b  K e  wm
Combine these equations to get:
VT 2  Ia 2  R a  K e  w2
Need two equations to find both VT2 and wm2.
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Substitute in know values and simplify equation to get first relationship.
r1=34.924 V KpGamp=10 Ktac = 0.11 V-s/rad
VT 2  (r  K tac  w2 )  K p  G amp
VT 2  34.924  0.11 w2  10
VT 2  349.24  1.1 w2 (1) Equation 1
Now use the motor armature circuit equation and the armature
current for TL2 =0.075 N-m to find second independent equation.
Ia2 =1.45 A Ke = 0.06 V-s/rad R+ =1.2 ohms

VT 2  I a 2  R a  K e  w2
VT 2  (1.45 A)  (1.2 )  (0.06 V - s/rad)  w2
VT 2  1.74  0.06  w2 (2) Equation 2

Place equations (1) and 2) into standard form and solve
simultaneously using software or calculator.
VT 2  349.24  1.1 w2
VT 2  1.1 w2  349.24 (1)
VT 2  1.74  0.06  w2
VT 2  0.06  w2  1.74 (2)
VT 2  19.71 V w2  299.6 rad/sec Answers
Now compute the error signal from the new tachometer output voltage c m2.
c m2  K tac  w2
c m2  0.11 V  s / rad   299.6 rad/sec   32.956 V
e 2  (r  c m 2 )  34.924  32.956  1.968 V
Error increases e2>e1 1.968>1.924 V to rebalance system

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Now determine the percentage speed changes for open loop and
feedback control. Setpoint, r=300 rad/sec
Open loop speed change
 wr  w1 
  100%  %SE (SE  speed error)
 wr 
 300  291.7 
  100%  %SE
 300 
2.77%  %SE Answers
Feedback loop speed change

Feedback reduces
 300  299.6  speed error by
  100%  %SE
 300  factor of 19.35
0.143%  %SE Answers
Integral Control Mode

Integral Mode characteristics:
1) Output is integral of error over time

2) Drives steady-state error to zero
3) Adds pole to transfer function at s=0 (infinite gain to
constant)
4) Integrators tend to make systems less stable
Equations 
Where KI = integral gain
Time: v( t )  K I   e( t ) dt  v 0
constant
0
Laplace: V(s)  K I  1   E(s

s 
Transfer Function: V(s) 1 

 KI   
E(s) s 
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OP AMP Realizations of Integral

Control
Practical OP AMP Integrator
Ideal OP AMP Integrator
Transfer Function
Transfer Function
Vo (s)  1 1  1
  KI  Vo (s)   R f   
Vi (s) R i  C  s 
1
Ri  C   
Vi (s)  R i  1  R f  C  s 
One pole at s=0

One pole at s=-1/Rf∙C
Bode Plots of Integrator Circuits

Substitute jw for s and find the magnitude and phase shift of the transfer
function for different values of w.
Ideal Integrator Practical Integrator

Vo ( jw) 1 Vo ( jw)  R f   1 
G( jw)   G( jw)    
Vi ( jw) R i  C  jw Vi ( jw)  R i  1  R f  C  jw 
Take magnitude and phase shift of each of these functions using rules of
complex numbers.
z=a+jb
Magnitude of z: z=|z| Phase Shift
z  a 2  b 2  Re( z) 2  Im(z) 2 b  Im(z) 

  tan 1    tan 1  
a   Re( z) 
Scale for dB dB  20  log( G( jw) )
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Bode Plots of Integrator Circuits

Practical Integrator Circuit
  R f  1 
G( jw)    
 i 
R 1  R f  C  jw 
Taking magnitude gives   R f  1 

G ( jw)    
 R i   1  R f  C  w 
2 2 2
dB  20  log( G( jw) )
Phase Shift gives (w)  180  tan 1R f  C  w 180 degree phase shift is
from inverting
Ideal Integrator Circuit configurations
G jw 
1
Magnitude gives dB  20  log( G( jw) )
Ri  C
Phase shift
1
  j  900   180  90  90 Contant value
j
Integrator Bode Plots Using MatLAB

  R f  1  1
G( jw)     G( jw) 
 R i  1  R f  C  jw  R i  C  jw
Use MatLAB script to generate Bode plots and transfer function.
Define parameters: Ri = 10 k, Rf = 100 k, C = 0.01 mF

MatLAB Script Input
statement
ri=input('Enter value of input resistance: ');
c=input('Enter value of capacitance: '); Comments
rf=input('Enter value of feedback resistance: '); begin with
%
% compute transfer function model parameters for
% practical integrator
tau=rf*c;
ki=-rf./ri;
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Integrator Bode Plots Using

MatLAB
MatLAB Script (Continued)
% compute parameter for ideal integrator

tau1 = ri*c;
% build transfer functions

% denominator form is a1*s^2+a2s+a3 Create
transfer
Av=tf([ki],[tau 1]) functions
Av1=tf([-1],[tau1 0])
%plot both on the same graphs

Plot both
bode(Av,Av1);
graphs on
same figure
Integrator Bode Plots Using MatLAB

Integrator Bode Diagrams
60
Practical
Ideal
40
w=1/RiC
Magnitude (dB)
20
0
w=1000 rad/s
-20
180
Phase (deg)
135
90
1 2 3 4 5
10 10 10 10 10
Frequency (rad/sec)
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Integral Action on Time Varying Error

Signals
Integral of constant, k, is line with slope k. Integrator produces
a linearly increasing
e2 output for constant
error input
e1
e4=0
Negative error
causes decreasing
-e3 output
V(t)=-e3t
Zero error
maintains last
output value
V(t)=e2t
V(t)=e1t
Estimating Integrator Output

From Calculus, integral is sum of area below a function plot
ba
b n
 f (t) dt   f (t ) t
a i 0
i 1 Where t  t i 1  t i 
n
f(t) f(ti+1)
t
a t b
For linear error plots, integral is the sum of the areas of linear segments.
Use triangle, trapezoid, and rectangle formulas to approximate output
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Integrator Output
Example 16-2: An ideal integrator has a gain of KI =0.1 V/s. Its
initial output is v=1.5 V. Determine the integrator outputs if the
error has step increases given by the table below.
Error Magnitude (V) Time Interval

e(t)=0 0≤t≤1 seconds
e(t)=2.5 1<t≤2 seconds
e(t)=4 2<t≤3 seconds
e(t)=0 3<t≤4 seconds
e(t)=-1.5 4<t≤5 seconds

Plot the error function that is input to the integrator
Integrator Error Input
5
3
Error Input
-1
-2
0 1 2 3 4 5 6
Time (seconds)
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Use the approximate formula to find the error at the end of each interval
n
vi  K I   ei  t Where t  1 n  5
i 0
V0=1.5
5
Integrator Error Input A0=KI∙t∙e0 =0.1(1)(0) =0
V1=1.5+A0=1.5+0=1.5
4
A1=KI∙t∙e1 =0.1(1)(2.5) =0.25

3
V2=1.5+A1=1.5+0.25=1.75
A2
Error Input
2
A3
1 A1 A2=KI∙t∙e2 =0.1(1)(4) =0.40
0
V3=1.75+A2=1.75+0.40=2.15
A4 A3=KI∙t∙e3 =0.1(1)(0) =0
-1
A0
V4=2.15+A3=2.15+0.0=2.15
-2
A4=KI∙t∙e4 =0.1(1)(-1.5) =-0.15
0 1 2 3 4 5 6
Time (seconds)
V5=2.15+A4=2.15+-0.15=2.00

Integrator output plot
Integrator Output
3
2.5
Integrator Output Voltage
2 X: 2.01
Y: 1.75
1.5
0.5
0
0 1 2 3 4 5 6
Time (seconds)
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Derivative Control Mode

Derivative Control Characteristics:
1) Produces output only when error is changing

2) Output is proportional to rate of change in error
3) Derivative control never used alone
4) Used with proportional and/or integral modes
5) Anticipates error by observing the rate of change
Derivative Mode Equations

de( t )
Time Equation: v( t )  K d 
dt
Laplace Equation: V(s)  K d  s  E(s)
V(s)
Transfer Function Equation:  Kd  s
E(s)
Differentiators are high-pass filters to sinusoidal signals. They increase

sensitivity to rapid error changes when added to controllers.
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OP AMP Realizations of Differentiators

Ideal OP AMP Differentiator Practical OP AMP Differentiator
Transfer Function Transfer Function
Vo (s) Vo (s)  R f  C  s
 R i  C  s 
Vi (s) Vi (s) 1  R i  C  s
Introduces: zero at s=0
Introduces one zero at s=0 pole at s=-1/Ri∙C
Bode Plots of Differentiators

Ideal Differentiator Equations Practical Differentiator Equations
Vo ( jw)  R f  C  jw
Vo (s) G ( jw)  
G ( jw)    R f  C  jw Vi ( jw) 1  R i  C  jw
Vi (s)
Rf Cw
G ( jw)  R f  C  w G ( jw) 
1  R i  C 2  w2
2
dB  20  log G ( jw) 
dB  20  log[ G ( jw) ]
  90 Constant over all w
  270 - tan -1 (R i  C  w)
Use MatLAB script to generate Bode plots and transfer function.
Define parameters: Ri = 10 k, Rf = 100 k, C = 0.01 mF
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Bode Plots of Differentiators

Bode Diagram
Differentiator Frequency Response
-100
-120 Ideal
Practical
Magnitude (dB)
-140
-160
w=1/RiC
-180
-200
315
270
Phase (deg)
225
180
135
90
-6 -5 -4 -3 -2
10 10 10 10 10
Frequency (rad/s)
ET 438a Automatic Control Systems Technology
END LESSON 16: BASIC

CONTROL MODES
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10/28/2015

Lesson 16: Basic Control

After this presentation you will be able to:

 Describe the common control modes used in analog

1) Small process capacitance

Limitations: Small steady-state error may require high gain to

Proportional Control Frequency

Note: gain is independent

Motor Speed Control

TL1 = 0.05 N-m TL2 = 0.075 N-m (50% increase in load)

Motor Speed Control

Tf = 0.012 N-m Ra = 1.2 ohms

cm1  K tac  w  0.11 V - s/rad  (300 rad/s )  33 V

Example 16-1 Solution (2)

Example 16-1 Solution (3)

Substitute in Tachometer formula

Example 16-1 Solution (4)

Ia2 =1.45 A Ke = 0.06 V-s/rad R+ =1.2 ohms

Example 16-1 Solution (5)

VT 2  19.71 V w2  299.6 rad/sec Answers

Error increases e2>e1 1.968>1.924 V to rebalance system

Example 16-1 Solution (6)

Open loop speed change

Feedback loop speed change

Integral Control Mode

1) Output is integral of error over time

Laplace: V(s)  K I  1   E(s

Transfer Function: V(s) 1 

OP AMP Realizations of Integral

One pole at s=0

Bode Plots of Integrator Circuits

Ideal Integrator Practical Integrator

Magnitude of z: z=|z| Phase Shift

z  a 2  b 2  Re( z) 2  Im(z) 2 b  Im(z) 

Bode Plots of Integrator Circuits

Taking magnitude gives   R f  1 

Integrator Bode Plots Using MatLAB

Use MatLAB script to generate Bode plots and transfer function.

Define parameters: Ri = 10 k, Rf = 100 k, C = 0.01 mF

Integrator Bode Plots Using

% compute parameter for ideal integrator

% build transfer functions

%plot both on the same graphs

Integrator Bode Plots Using MatLAB

Integral Action on Time Varying Error

Estimating Integrator Output

Error Magnitude (V) Time Interval

Example 16-2 Solution (1)

Example 16-2 Solution (1)

A1=KI∙t∙e1 =0.1(1)(2.5) =0.25

Example 16-2 Solution (2)

Derivative Control Mode

1) Produces output only when error is changing

Derivative Mode Equations

Laplace Equation: V(s)  K d  s  E(s)

Differentiators are high-pass filters to sinusoidal signals. They increase

OP AMP Realizations of Differentiators

Transfer Function Transfer Function

Bode Plots of Differentiators

Use MatLAB script to generate Bode plots and transfer function.

Define parameters: Ri = 10 k, Rf = 100 k, C = 0.01 mF

Bode Plots of Differentiators

ET 438a Automatic Control Systems Technology

END LESSON 16: BASIC