© Lt Cdr V Upreti, SI FCWE

Layout of Lesson

• Introduction

• Servo Systems

• Servo Elements

• Hydraulics

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PID CONTROLLER: PAST,
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 Nature of Systems

• NON-LINEAR

(ALL PHYSICAL SYSTEMS ARE NONLINEAR IN NATURE)

• LINEAR

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 Types of Control systems

• OPEN LOOP

( PLANT DYNAMICS KNOWN)

• CLOSED LOOP

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 OPEN LOOP SYSTEM

R(s) Gc(s) Y(s)

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 Closed Loop System

• SP : SET POINT

• PV : PROCESS VARIABLE

• CO: CONTROLLER OUTPUT

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PID CONTROLLER:
INTRODUCTION TO PID
 Closed Loop System

Error
detector Control Output/controlled
Input signal Control signal Controlled variable
elements system
Controller

Feedback
f
Feedback element
e
signal
e

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 What is Servo System ?

• The servo system is a feedback system in which output is some

mechanical entity like position or velocity or acceleration
• A control system output of which is required to follow a prescribed
path in a space is called as servo system.
• Applications of servo system :
• 􀂙 Weapon systems
• 􀂙 NC,CNC, Machines
• 􀂙 Robotics, Satellite etc.

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 SERVO CHAIN ELEMENTS

• COMMAND ORDER DEVICE (C.O.D)(TDR)

• ERROR MEASURING DEVICE (E.M.D) (SYNCHRO/OP AMP)
• CONTROLLING DEVICE (PSR, AMPLIFIERS)
• ACTUATORS (AMPLIDYNE)
• PLANT
• FEEDBACK ELEMENT ( TACHO, SYNCHROS)
• INDICATOR UNITS (SYNCHROS)

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PID CONTROLLER: PAST,
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 SERVO CHAIN

C.O.D Error Controllin ACTUATOR Plant

Measuring g Device
Transducers device (Electronic
S.P (Synchro/ Circuit) O/P
OP Amp)

Feedback
(Synchro/Tacho)

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 SERVO CHAIN

A/D Controller D/A ACTUATOR Plant

Converter Converter
S.P O/P
Control
A/D Computer
Converter

Feedback
(Synchro/Tacho)

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 Actuator Options Available
• Electric

• Hydraulic

• Pneumatic

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 Factors affecting choice of drive

• 􀂙 Speed of Response
• 􀂙 Accuracy
• 􀂙 Effect of External Torque
• 􀂙 Cost
• 􀂙 Weight
• 􀂙 Size
• 􀂙 Maximum Torque
• 􀂙 Inertia
• 􀂙 Speed Range
• 􀂙 Reliability
• 􀂙 Availability
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PID CONTROLLER: PAST,
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 Electric Servo Actuator

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 Hydraulic Servo Actuator

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 Electro-Pneumatic Servo Actuator

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PID CONTROLLER: PAST,
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© Lt Cdr V Upreti, SI FCWE
PID CONTROLLER: PAST,
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© Lt Cdr V Upreti, SI FCWE
PID CONTROLLER: PAST,
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 Problems with Pneumatic drives

 Limited to low power application

 Poorer accuracies

 Low time constant-Slow dynamic response

 Requires damping and compensation

 Difficult to check out

 Gas transportability problem

 Noisy operation

 Friction and wear

 Oxidation

 Compressible nature of working fluid

 Compressor required is large

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 Amplifiers
• 􀂋 Signal Amplifier
 􀂋 Alternating current Amplifier
 􀂋 Direct current Amplifier
• Problem : zero adjustment i.e. amplifier output is
zero when error signal is zero
• 􀂋 Power Amplifier
 􀂋 Thyristor based
 􀂋 PWM based
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 Synchro Transmitters and Receivers

• The unit whose shaft is turned is called the synchro transmitter. It

delivers an output voltage that changes when the shaft of the
transmitter is rotated. The output voltage of one transmitter can be
used to control several synchro receivers.

• The unit whose shaft responds to the change in transmitter voltage is

called the synchro receiver.

© Lt Cdr V Upreti, SI FCWE

PID CONTROLLER: PAST,
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© Lt Cdr V Upreti, SI FCWE
PID CONTROLLER: PAST,
PRESENT AND FUTURE
© Lt Cdr V Upreti, SI FCWE
PID CONTROLLER: PAST,
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© Lt Cdr V Upreti, SI FCWE
PID CONTROLLER: PAST,
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 Elevation

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 Azimuth

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 Performance specifications
Controlled
variable

Overshoot

Reference

Steady state error %

Transient State Steady State

Settling time Time

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