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UNIT III
SYSTEM MODELS AND CONTROLLERS
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opposing
motion,
for example
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PROBLEMS:
1) Derive a differential equation for the system shown in figure. The
displacement of mass is y and the input displacement is x
From 1 and 2
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and acceleration a =
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Stiffness of a Spring
spring
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= Kpp* E(s)
= Change in Output (s)
/ E(s)
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COMBINATIONS OF MODES:
Proportional plus derivative modes (PD), proportional plus integral
modes (PI),
proportional plus integral plus derivative modes (PID).
The term three term controller is used for PID control.
DIGITAL CONTROLLERS:
The tern digital control is used when the digital controller, basically a
microprocessor is in control of the closed-loop control system.
The controller receives inputs from sensors, executes control programs
and provides the output to the correction elements.
The controllers require inputs which are digital, process the information
in digital form and give an output in digital form.
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VELOCITY CONTROL:
Consider the problem of controlling the movement of a load by means of
a motor.
Time will thus be taken for the system to respond to an input signal.
A higher speed of respond, with fewer oscillations, can be obtained by
using PD rather than just P control.
There is, however, alternative of achieving the same effect and this is by
the use of a second feedback loop which gives a measurement related to the
rate at which the displacement is changing.
This is termed velocity feedback.
ADAPTIVE CONTROL:
An adaptive control system which 'adapts' to changes and changes its
parameters to fit the circumstances prevailing.
The adaptive control system is based on the use of a microprocessor as
the controller.
Such a device enables the control mode and the control parameters used
to be adapted to fit the circumstances, modifying them as the circumstances
change.
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SELF TUNING:
With self-tuning control the system continuously tunes its own
parameters based on monitoring the variable that the system is controlling
and the output from the controller.
Self-tuning is often found in commercial PID controller, it generally then
being referred to as auto-tuning.
When the operator presses a button, the controller injects a small
disturbance into the system and measures the response.
Response is compared to the desired response and the control parameters
adjusted, by modified Ziegler-Nichol rule, to bring the actual response closer
to the desired response.
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