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Chapter 17
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Control Systems Characteristics IT02
Chapter 17 Curriculum Manual
Fig 17.1 shows a simple closed loop control system, the errordetector detecting
the difference between the actual and the desired value of the controlled variable.
Error
Detector
Reference Error Controlled Output
Input + Controller Variable
-
Feedback
Fig17.1
The output of the controled variable (the transducer) is compared with a reference input
(command input) and an error signal is fed to the controler which initiates an actuatingsignal to
alter the state of the controlled variable and reduce the error, ideally to zero.
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IT02 Control Systems Characteristics
Curriculum Manual Chapter 17
This method of control is suitable for systems having inertia (a long time constant)
such as the temperature control of a room, using a heater. The method might give
characteristics as illustrated in Fig 17.2.
Initially, the heater is ON and the temperature rises exponentially from its ambient
state. When the desired temperature is reached, the heater is switched OFF.
Maximum
Actual
Temperature
Reference
ON OFF ON OFF ON
Time
Fig17.2
The temperature will continue to rise or overshoot for a time due to the residual
heat in the heater, but will eventually fall, the rate of the fall increasing with time.
When the temperature has fallen below the desired value, the heater will again be
switched ON but the temperature will continue to fall for a time before the heater
has any effect.
The resulting characteristic will be as shown in Fig 17.2, with the temperature
varying continuously between two limits, provided that there is no change in the
operating conditions, such as heat loss variations or a change in the thermostat
setting (command input).
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Control Systems Characteristics IT02
Chapter 17 Curriculum Manual
With this system of control, the output from the controller is proportional to the
magnitude of the error signal (not just ON or OFF).
Controller output = Kp x Error
For large values of gain in the feedback loop the characteristics are similar to
those for ON/OFF control. For small values of gain the system will be sluggish
and very slow to respond.
Time
Fig17.3
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IT02 Control Systems Characteristics
Curriculum Manual Chapter 17
The term damping is used to cover the inertia or friction of a feedback system.
Characteristics such as those for high gain in Fig 17.3 are referred to as
underdampedand for low gain, overdamped.
A response which rises most rapidly to the reference with no overshoot is referred
to as critcalydamped.
Position
Input
Underdamped
Output
Velocity lag
time
Fig17.4
Fig 17.4 shows the response of a proportional control system to an input varying
with time (ramp input). The output tends to follow the input but, due to inertia
within the system, the error between the input and output quantities has to increase
to a threshold before there is sufficient actuating signal to produce a variation of
the output.
The output will thereafter follow the input but will lag behind the input, this being
referred to as velocitylag. The magnitude of the lag will depend on the gain of the system,
the friction and the output loading.
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Control Systems Characteristics IT02
Chapter 17 Curriculum Manual
Consider the system operating with a set input and with the output at the reference
setting so that there is no error. Under these conditions there will be no controller
output.
A load imposed on the output will produce a change of output state. An error
signal will be produced to counteract this and reduce the error, but the output will
not now be at the desired reference state. The error introduced will vary with the
loading imposed on the output.
In practice, due to saturation effects within the system, the controller output will
be proportional to the error only over a part of the full range.
Output +
Proportional band
- +
Error
Fig17.5
This is illustrated in Fig 17.5. The range over which the output is proportional to
the error is referred to as the proportionalband.
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IT02 Control Systems Characteristics
Curriculum Manual Chapter 17
Integral control can be used to eliminate any error present between the reference
and actual output setting. An integrator produces an output that is proportional to
input time and hence, if the error signal is fed via an integrator circuit, its
output will increase with time. With this output fed to the system controller, an
actuating signal will be produced to reduce the error, the time taken depending on
the integrator time constant.
Error Detector
Reference Error Controlled Output
Input + Integrator Controller
-
Variable
Feedback
Reference
Input
Output
time
Error
Integrator output
Fig17.6
Fig 17.6 illustrates the operation of integral control for ramp input conditions.
While there is an error, the integrator output increases. This output, fed to the
controller, produces an actuating signal to correct the error. When the error has
been reduced to zero, the integrator output remains constant, thus compensating
for the velocity error that would have been present without the integral control.
Normally, the integral control would be combined with proportional control, the
proportional control being the main control and leaving the integral control for
final adjustments of the output setting.
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Control Systems Characteristics IT02
Chapter 17 Curriculum Manual
The same effect can be produced using an adder fed with derivative control, by
feeding back a signal that is proportional to the rate-of-change of the output or the
rate-of-change of the error signal. This is illustrated in Fig 17.7.
Differentiator
Feedback
time
Error
(iii)
Rate-of-change
of output
(differential)
(iv)
Actuating
signal
(v)
Fig17.7
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IT02 Control Systems Characteristics
Curriculum Manual Chapter 17
Student Assessment 17
6. When a load is applied to a system with proportional control, the output may have:
a greater amplitude b a continual error
c less range of response d a slower response
Continued.
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Chapter 17 Curriculum Manual
StudentAssessment17Continued...
0V 0V 0V 0V
Fig1 Fig2 Fig3 Fig4
7. The waveform of Fig 1 is applied to the input of an integral controller. The output
waveform will be:
a Sat. b Sat. c Sat. d Sat.
0V 0V 0V 0V
8. The waveform of Fig 2 is applied to the input of an integral controller. The output
waveform will be:
Sat. Sat. Sat. Sat.
a b c d
0V 0V 0V 0V
9. The waveform of Fig 3 is applied to the input of a derivative controller. The output
waveform will be:
Sat. Sat. Sat. Sat.
a b c d
0V 0V 0V 0V
10. The waveform of Fig 4 is applied to the input of a derivative controller. The output
waveform will be:
Sat. Sat. Sat. Sat.
a b c d
0V 0V 0V 0V
300