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d(s) Gd
Comparator
ysp E(s) C(s) m(s) y(s)
GC Gf Gp
ym(s) y (s)
Gm
Process balance
y(s) G p m( s) Gd d ( s) Measuring Device
Measuring device
y m ( s ) Gm y ( s )
Controller system
E ( s) ysp ( s) ym ( s) Comparator
C ( s ) Gc E ( s ) Controller
Final control element
m( s) G f C ( s)
Algebra manipulation of the above equations and arrange then
y( s) G p m( s) Gd d ( s)
y( s) G p G f C ( s) Gd d ( s)
y( s) G p G f Gc E ( s) Gd d ( s)
y( s) G p G f Gc ( ysp ( s) ym ( s)) Gd d ( s)
y(s) G p G f Gc ( ysp ( s) Gm y(s)) Gd d (s)
y(s) G p G f Gc ysp ( s) G p G f GcGm y( s) Gd d ( s)
(1 Gc G f G pGm ) y( s) Gc G f Gp ysp (s) Gd d (s)
Gc G f G p Gd
y(s) ySP ( s ) d (s)
1 Gc G f G p Gm 1 Gc G f G p Gm
Let G = GC Gf GP
G Gd
y ( s) ySP ( s) d ( s)
1 GGm 1 GGm
G Gd
GSP Gload
1 GGm 1 GGm
The distubance does not change (i.e. d (s) = 0 ) while the set point undergoes change.
The feedback controller act in such away as to keep y close to the changing y sp . The
T.F. of closed loop system of this type is:
G p G f Gc
y ( s) ySP ( s )
1 Gc G f G p Gm
2) Regulated systems:
In these systems the set point (desired value) is constant ( ysp (s) = 0 ) and the change
occurring in the load. The T.F. of closed loop control system of this type is:
Gd
y ( s) d ( s)
1 Gc G f G p Gm
y(s) Gload d (s)
The feedback controller tries to eliminate the impact of the load change d to keep y at
the desired setpoint.
0
2- Effect of Integral Control
Consider a servo problem, d ( s) 0
Gc G f G p
y ( s) y SP ( s ) (*)
1 Gc G f G p Gm
Consider Gm G f 1
kp
For the 1st order process G p
ps 1
For a simple integral control
1
Gc K c
Is
Sub in eqn. (*)
KP K
C
ps 1 I s K P KC
y( s ) ySP ( s ) ySP ( s )
1
KP
KC ( p s 1 )( I s ) K P K C
ps 1 I s
Solution:
Gm(s)
o ( s) Gd ( s)
Regulator loop:
d ( s) 1 Gm ( s)G( s)
3 9
G(s) = GC(s) Gf (s) GP(s) = 2×1.5× =
10s 1 10 s 1
1
o ( s )
10s 1
1
=
d ( s ) 1 9 10s 10
10 s 1
1
θd(s) = 1/10
s
1
o (s) = 10 θo(t) off-set
s( s 1)
o (t) 0.1(1 - e-t )
At t = 0 , o (t) = 0
At t = , o () = 0.1
Or
1
1
o () = lim so ( s) lim s 10
s 0 s 0 s ( s 1) 10
Offset= New s.s value-Ultimate value= 0 - 0.1= -0.1
Example: the set point of the control system shown in the figure is gives a step
change of a 0.1 unit. Determine
1- The maximum value of C.
2- The offset.
3- The period of oscillation.
Example: Consider the figure below, a unit step change in load enters at either
location 1 or location 2.
What is the offset when the load enters at location 1 and when it enters at location 2
U1 G1 U2 G2
Gc
2 1
R Kc 5 C
(2s 1) (2s 1)
1 1 C
R K c (1 s)
Is D 1s 1
1
2
4s 3s 1
Offset=0-0=0
K c ( 1 D s )( m s 1 )
( 1 Kc )
C R( s )
1 m s 2
( 1 m K c D )
s 1
( 1 Kc ) ( 1 Kc )
1 m
1 Kc
1 m K c D
b) for ψ=0.7
2 (1 K c ) 1 m
1) τD=0
60 10 0 35
0.7
2 (1 K c ) 60 10 600 600 K c
600 600 Kc 50
600 600 K c 2500
K c 3.166
2) τD=3 sec
60 10 3K c 70 3K c
0.7
2 (1 K c ) 600 2 (1 K c ) 600
70 3Kc 34.292 (1 Kc )
2.04(1 0.042 Kc ) (1 Kc )
4.1616 0.355 Kc 0.0075 K c2 (1 Kc )
0.0075 K c2 0.0645 Kc 3.1616 0
K c 80.73 or K c 5.266