Data Acquisition & Control Systems

DAG Lecture 5 Unity Feedback Systems & Controllers

Unity Feedback and Series Controllers Classification of Unity Feedback Systems

We can classify unity feedback systems by their order and type
controller plant number.
+
Gc (s) Gp (s) The ORDER of a system is given by the order of the open loop
characteristic equation. (Note unity feedback does not change the order
- of a system.)
The TYPE number for a system is given by the number of roots of the
open loop characteristic equation that are zero.
Unity feedback allows us to feedback the output to compare to e.g. If the open loop characteristic equation of a unity feedback
the input. If there is an error a controller may be used to change system is:
the input to the system we wish to control called plant. s2 (s2 + 4s + 3) = 0
the system is said to be a fourth order type 2 system.

Error Constant Steady State Error for the Antenna

u(t) = 1
1 lim
Tracking a geo-stationary satellite
ess =
1 + Kp
Kp = [ G ( s) ]
s 0 o
d + 0.0005 1
10 20
1 + 10s s
t
-

u(t) = t
1 lim Desired angle is fixed, (i.e. d is a step input)
e ss = Kv = [s G o ( s) ]
Kv s 0 OLTF is:
0.1
t
s (1 + 10s )
u(t) = t2/2
Type number = ?
[ ]
1 lim
e ss = Ka = s 2 G o ( s)
Ka s 0

Steady State Error for the Antenna Proportional Control

Tracking a star +
K Gp (s)
Desired angle will vary constantly as star moves across the sky. i.e. d is
- controller plant
a ramp function, d = 360t/(24x60x60)=0.004t (deg)
Still a type 1 system, hence from the table ess = 0.004x1/Kv

Plant input is proportional to the error between the desired output and
lim lim 0.1 the actual output.
Kv = [s G o (s) ] = s = 0.1
s0 s 0 s (1 + 10s ) Gives one degree of freedom. (i.e. May be used to force a desired
speed of response or overshoot but not both..)
0.004 Implemented electrically using an amplifier, if K >1, or
e ss = = 0.04 deg potentiometer, if K<1.
Kv
Implemented mechanically using a gearbox. (This may need to be
placed after the plant in the forward path.)

D.A.Germany - School of Engineering & Technology

Data Acquisition & Control Systems
DAG Lecture 5 Unity Feedback Systems & Controllers

Steady State Error for the Antenna with a Proportional + Integral Controllers
proportional controller tracking a star
K
e(t) + Ki Ks + K i
d =0.004t + 0.0005 1 K + =
10 K 20 = s s
1 + 10s s +
1
- Ki
s

0.1K Plant input (controller output) is proportional to the error

OLTF =
s (1 + 10s ) signal and the integral of the error signal.
Generally implemented electrically using resistors,
Still a type 1 system, hence from the table ess can never be zero!!! capacitors, operational amplifiers and potentiometers.
Used to improve the steady state performance, particularly
when a constant disturbance causes problems.

Steady State Error for the Antenna Effect of Side Wind with PI Controller
Tracking a star However a PI controller will automatically correct for wind.
Tw
The only way to make sure the antenna can track a star
Ks + K i
is to force the system to be Type 2 or higher d =0
+
10 20 0.0005 1
s 1 + 10s s
This is achieved by replacing the proportional -
controller by a PI controller
CLTF if d = 0 (s)
=
0.1s
d 0.1 Tw (s) s 2 (1 + 10s) + Ks + K i
+ e Ks+Ki T
s s (1 + 10s ) Hence steady state output given a constant wind, i.e. Tw(s) = Tw/s
- controller antenna lim 0.1s T 0
ss = s . w=
s 0 s 2 (1 + 10s) + Ks + K i s K i

This is excellent since the desired angle was zero!

Summary of Lecture 5
Proportional + Integral + Derivative Control
Use the steady state error tables with error constants with unity
2
feedback systems to find the steady state error quickly.
Ki K i + Ks + K d s Type number is the number of free integrators.
G c ( s) = K+ + Kd s =
s s Use PI, and PID controllers to increase the type number and reduce
or remove any steady state error.
Plant input is proportional to the error signal plus the integral A PI controller may be used to improve steady state error of a
and derivative of the error signal. positional control system with a disturbance input.
Gives three degrees of freedom but increases the order of the A PID controller will give an extra degree of freedom to help fine
system by one. tune performance over what a PI controller will achieve.
It has all the advantages of the PI controller but the extra term Directed Independent Learning for this week:
gives the chance to fine tune the transient response. Try Problems 5

Note there is a control systems phase test next Monday covering

everything studied so far!

D.A.Germany - School of Engineering & Technology