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Training Unit
Control Systems 2
Theory
No: EE 065
Training Unit
Control Systems 2
Theoretical Part
No.: EE 065
Edition:
2008
All Rights Reserved
Editor:
CONTROL SYSTEMS 2
CONTENTS
Page
CONTROL UNIT...........................................................................................................4
2.1
2.2
3.2
3.3
PD Control unit...................................................................................................18
4.2
5.2
5.3
5.4
5.5
CONTROL SYSTEMS 2
LEARNING OBJECTIVES
become familiar with the circuit diagram of a PI control unit. ... state how the D part
functions with the help of the transfer function.
CONTROL SYSTEMS 2
CONTROL UNIT
A control unit is a device which furnishes a correcting signal for final control unit to control
the process in order to bring the controlled variable value close or equal to the desired
value.
With this type only two values of the manipulated variable are possible.
2.1
The correcting element only recognises the position "ON" and "OFF",
example; bimetallic controller on an electric iron.
If the temperature rises, the bimetallic strip bends upwards. If the temperature falls below
the set value, the electric circuit closes and the heating element is warmed by the current.
2.2
Example: temperature regulating circuit with three position bimetallic control unit.
R1 R2 heat resistors
During the heating process the upper contact is closed and heating resistor R1 is switched
on.
There is a heavy current flow, i. e. , the correcting variable is at its maximum value.
As the temperature rises the bimetallic strip bends further. Heating resistor R2 is switched
on, in series with R1
The current flow decreases. The correcting variable is adjusted to its medium value.
If the temperature continues to rise the bimetallic strip breaks the heating circuit.
With a change in the controller input, a gradual change in the controller output is
produced.
3.1
Displacing the fulcrum to the left means that large x values will yield small y values.
Strictly speaking, it is not a matter of amplification here but rather of attenuation.
Nevertheless, even here one speaks of an amplifier.
(Amplification factor less than 1)
Example:
Level control
If the lever arms a and b are equal in length, the valve will likewise open by 1 cm when the
water level sinks by 1 cm.
With every valve however, there is a maximum valve opening (4 cm for instance).
If the water level sinks by more than 4 cm, the inflow cannot increase. The regulator can
only operate within a certain range, the proportional range xp .
The P rangexp is that range in which the controlled variable must vary in order to vary the
correcting variable over its entire range, y.
3.1.1
Transfer function
The transfer function is a function describing the change of the output quantity after a step
change in the input quantity.
a:b
Block diagram
The P control unit is represented symbolically by its transfer function.
10
3.2
Level control
If inflow and outflow are equal, the level will remain the same. If the inflow increases and
the outflow remains constant, the level (output quantity) will rise until the tank overflow.
With any input flow which is greater than the outflow, the level will rise to the overflow
point.
In this case a definite output flow can no longer be assigned to every Input flow.
The difference between the liquid Input, and the liquid output accumulates in the tank.
11
In other words:
The speed at which the correcting variable changes is proportional to the change in the
controlled variable.
The greater the variation, the faster the change in the correcting element.
The more the float is lowered, the greater the applied voltage at the servomotor.
The regulating speed of the valve is therefore dependent on the altered position of the
float.
12
The transfer function shows that the 1 control unit works more slowly than the P control
unit.
3.3
The correcting variable is the sum of the output quantity of a proportional action control
unit and of an integral action control unit. This is achieved by connecting a P and an I
controller in parallel.
13
In the example of the level regulation, this means superposition of the motor and float
movement.
P - part
The rise in the water level causes the sliding valve to close.
I - part
The motor shifts the sliding valve via a stem until the required set valve is readjusted.
14
Transfer function
For a step change in the controlled variable.
The correcting variable changes at first in a similar manner to the P control unit.
Because of the I part of the control unit, an additional change in the correcting variable
takes place.
Reset time Tn
Reset time is the time required by the correcting unit (calculated from the moment a step
deviation occurs) to reset the path, an account of the integral action, it has already
covered in consequence of the P part.
15
The shorter Tn is, the more rapidly the output quantity rises.
With PI controllers
Block diagram
16
The magnitude of the output quantity is dependant an the rate of change the input quantity
and the time constant, T .
Transfer function
With an input step change xw , the correcting variable y is temporarily and abruptiy
changed, and returns thereafter to its original value. With a constant rate of change of the
deviation, the D control unit makes a constant adjustment to the correcting unit.
17
4.1
PD Control unit
Transfer function
18
At the onset of the controlled variable, a jump occurs at point t1 due to the D effect; this
jump is proportional to the rate of change of the controlled variable.
This sudden variation is called derivative action. Subsequently there occurs a continuous
change in the correcting variable which is proportional to the change in the controlled
variable.
4.2
Transfer function
The D influence causes a rapid, temporary change in the correcting variable. However,
the correcting variable does not return to its original value, because now the P influence of
the control brings about an adjustment of the correcting variable which corresponds to the
proportional action factor Kp.
19
The D part of the correcting variable change is proportional to the speed of change of the
controlled variable.
True transfer function for control units
Since all control units exhibit a certain delay, the transfer functions illustrated previously
are practically impossible.
Control units with delay exhibit the following transfer functions.
20
5.1
When there is a deviation of the controlled variable from the set value, the correcting unit
is varied without supplementary energy.
Example: temperature regulating circuit with bimetallic
control unit.
5.2
Amplifier
Function
The amplifier has the function of making available the energy necessary for the correcting
unit.
21
Pneumatic amplifiers
Hydraulic amplifiers
Electric amplifiers
Types:
-
Electrical amplifiers
Operational amplifiers are used as electrical amplifiers.
Design:
Several transistors are incorporated in an integrated circuit chip. Small Input quantities
(currents and voitages) produce output quantities which have been greatly amplified.
Block diagram
22
5.3
Hydraulic controllers
On-off controller
These types of controllers are used where a rapid movement of the piston to either
extreme position is required. The jet pipe is positioned at neutral when the measured
value and set point value are equal.
Proportional controller
The proportional action is obtained when a feedback linkage from piston to jet pipe is
provided. When the jet pipe moves from neutral position to the right because of a change
in measured variable, the piston will move to the right so far that the jet pipe is brought
back to neutral position.
The effect of feedback is controlled by changing the position of the pivot as shown an the
figure.
23
24
This differential pressure causes a flow through the by-pass valve from left to right side of
the auxiliary cylinder. Through this flow, the pressure in the right side of the auxiliary
cylinder begins to
increase until the pressures an both sides of the auxiliary cylinder are in equilibrium.
During the time the fiow passes through the by-pass valve, the spring in the cylinder will
move the piston from right to the left. Moving the piston to the left reduces the negative
feedback effect and causes the main piston to move to further in the original direction.
5.4
Function
Maintain the pressure in a pressure pipe constant.
P-control unit
A metal bellows B1 determines the controlled variable. The force generated by the
pressure in the pipe is transmitted to the balance arm.
25
PI-control unit
26
PID-control unit
An adjustable restriction in front of the feedback bellows delays the feedback action.
When there is a change in the controlled variable, the amplification is high at first (strong
control of the correcting unit).
As the pressure in the feedback bellows increases, the amplification reduces. When the
pressure in bellows 2 also reaches the pressure in the feedback bellows, it neutralises the
force of the feedback bellows.
27
5.5
These are composed of an operational amplifier with input and feedback resistors.
The command variable (voltage of the set point adjuster) and the controlled variable
(measured voltage) are connected to the input resistors Rinl and Rin2 .
P-control unit
When there is a deviation, a voltage difference between the command variable Vw and
the controlled variable Vx is created.
A corresponding current Ifb flows through the feedback resistor.
Output voltage
Wiring diagram
Transfer function
28
I-control unit
Wiring diagram
Transfer function
PI-control unit
An additional resistor is wired into the circuit in the feedback path.
29
Wiring diagram
Transfer function
PID-control unit
Wiring diagram
30
Transfer function
31
EE065
Control Systems 2
Theoretical Test
32
EE 065
CONTROL SYSTEMS 2
TEST
2. Give an example for the use of the two position control unit.
33
EE 065
CONTROL SYSTEMS 2
TEST
(Solution)
1.
To eliminate any deviation of the controlled variable from its command variable (set
value).
2.
3.
4.
The magnitude of the disturbance variable and the proportional action factor.
5.
6.
The amplifier has the function of making availabie the energy necessary for
controlling the correcting unit.
7.
8.
With a discontinuous control unit only two values of the correcting variable are
possibie. With a continuous control unit a gradual change of the correcting variable
is produced.
9.
10.
The proportional action factor Kp is the quotient of the output quantity and the input
quantity.
34
KEY TO EVALUATION
PER CENT
MARK
88 100
75 87
62 74
50 61
0 49
35