FEEDBACK AND CONTROL SYSTEM

MADE EASY

Prepared by:
ENGR. WARREN K. FLERAS
DESIGN TEAM LEADER EMERSON INDUSTRIAL AUTOMATION

OPEN VS CLOSED LOOP

OPEN LOOP :

Know ahead of time your average flow rate when you pour, and the detailed geometry of the glass. Then, using a stopwatch, you CLOSE YOUR EYES and pour according to your calculations.
Whats the problem does this approach have? CLOSE LOOP : What we always do. We pour water, constantly monitoring progress, until we reach our goal. Then we stop. No matter what combination of flow rate glass size, pitcher geometry, etc. we get the job done.
Notice , as the term goes on, similarities between filling glass and real feedback systems: ? ? At the start, you pour fast, and slow down as you reach goal. The more accurate you want to be, the longer time it takes.

OPEN VS CLOSED LOOP

?

the main factor that complicated feedback system design is : DELAY In a closed loop: 1) measures the variable to be controlled 2) compare this measured value with the desired value or reference and determine the difference 3) use this difference to adjust the controlled variable so as to reduce the difference Open loop is easier to build because system stability is not a major problem. At closed loop, stability is a major problem. At closed loop, stability is a major problem which may tend to overcorrect errors that can cause oscillations of constant changing amplitude. Open loop if the input is predictable and no disturbances else use closed loop. Closed loop used to adjust input to acquire the desired value

? ?

POSITIVE VS NEGATIVE FEEDBACK

POSITIVE VS NEGATIVE FEEDBACK

Negative feedback reduces the input to gain the proper or desired output Positive feedback is also called Regenerative Feedback

Positive feedback has only 2 state: High or Low While negative feedback Vo is linear with respect to input

Positive feedback Vo is in phase with Vin (Comparator) Negative feedback Vo is out of phase with Vin (diff Amplifier)

TIME VS FREQUENCY DOMAIN

Time Domain VS Frequency Domain

Oscilloscope is a sample tool to measure signals characteristics with respect to time Amplitude vs time display

Spectrum analyzer shows how much signals lies within each given frequency band over a range of frequencies Phase and Gain vs frequency display

i(t)=C dv/dt

Z(s)= 1/sC but s= 2pf therefore: Z(s)= 1/ 2 p fC

Amplitude VS Time

Gain Phase VS Frequency

LAPLACE TRANSFORM
Any given signal/ function can be converted between time and frequency domains w/ a pair of mathematical operators Called a transform. TRANSFORMS: ? Fourier Series > for repetitive signals, oscillating system ? Fourier transform > non repetitive signals ? Laplace transform > electronic circuits and control system ? Z-transform > discrete signals, digital signal processing LAPLACE ? Use to solve ordinary diff eqn to easily solvable algebraic equation ? Transform time domain to frequency domain where both same input & output are functions of complex angular frequency or radiant per unit time ? Differentiation and integration becomes multiplication and division respectively by s

Current in a capacitor is proportional to its Capacitance multiplied by the voltage charging rate it=Cdv/dt C capacitance i current in C as a function of time v vt voltage across capacitor as a function of time

Taking the LAPLACE:

{ It } = { Cdv/dt } = sF(s)-f(0) { df(t)/ dt } = sF(s)-f(0)

Is=C(sVs-Vo)
Where:
Is = { it} Vs = { vt} Final value of V V0 = vt Initial value of V t=0 Vs=Is/sC + Vo/s eqn 1 The definition of complex impedance Z is the ratio of complex voltage V divided by the complex current I while Holding the initial state Vo at zero

Zs= Vs Is Vo=0

Zs= Vs Is

Vo=0

substituting eqn 1 0 Zs = I s/sC + Vo/s Is Zs= 1 sC Therefore: Zs =

Vo=0

but s=? = 2pf

2p fC

COMPLEX NUMBERS
Combination of real and imaginary parts is called COMPLEX numbers j2=-1 j=v -1 Z complex z impedance = x real part resistance + jy imaginary part reactance

+j inductive

Resistive

Resistive

- j capacitive

Ex : a 3 ohm in series with a 4ohm inductive reactance. +j

3 + j4

hyp= v 42 + 32 = 5 + 3

To get the Voltage phase since at series V is different to the resistance and reactance

Tan = -Xc/ R or +Xl/ R

= arctan 4/ 3 = 530

3 + j4 = 5 ? 53

Ex : a 3 ohm in series with a 4ohm capacitive reactance.

3 j4

hyp= v 42 + 32 = 5 + 3

To get the Voltage phase since at series V is different to the resistance and reactance

4 -j

Tan = -Xc/ R or +Xl/ R

= arctan -3/ 4 = 370

4 + j3 = 5 ? - 37

POLES and ZEROES

ZEROES Value of s that makes the transfer function goes to zero POLES Value of s that makes the transfer function goes to infinity

Makes amplitude response roll off

Makes amplitude response rise

Shifts phase +90 0 45o at fc

shifts phase -90o '-45o at fc

3D representation of

with s = 1

This picture of |H(s)| shows an inverted cone whose tip is located at s=1, with the value of |H(s)|=0 at that point.

OP-AMPS BASICS
The operational amplifier is an example of a differential amplifier in that its output voltage is proportional to the difference between the voltages at its two input terminals.

The operational amplifier is an example of a differential amplifier in that its output voltage is proportional to the difference between the voltages at its two input terminals. To calculate the output voltage of an ideal op amp, we multiply the gain , A , of the ideal op amp by the difference between the voltages at the two input terminals of the op amp. For an ideal op amp, therefore, we can write: vout(t) ??=?A(v+(t) ?- ?v- (t) ) The gain of op amps is large, typically 10,000 or more. Thus, if the voltage difference at the input terminals is 0.0001 V and the gain A = 10000 , then the output voltage of the op amp is ( 0.0001V )( 10000 ) = 1V . An ideal op amp draws absolutely no current at either of its input terminals. The 741 op amp draws a trickle of current at its inputs, but the currents are so small that, for simplicity, we can neglect them in our calculations without noticeable error.

POLE

ZEROES

Low pass filter Integrator Vo= -1/RC ?Vidt -90 phase lag

High pass filter Differentiator Vo= -RC dVi/dt +90 phase lead

POLE

ZEROES

Flat response at dc until reaching fc then -20dB/decade gain slope

Flat response at dc until reaching fc then +20dB/decade gain slope

Flat response at dc then after fc/10 (-1 decade) starts sloping down until fc having a -60dB at 45o then at 10fc (+1decade) flat response at 90o exhibits

Phase lead of 90o max at -1 decade flat response 1 decade to fc sloping up to 45o fc to +1 decade sloping up to 90o and 10fc onwards flat response

BODE PLOT It is a representation of the relative gain and phase shift response of a circuit (wherein an output signal is referenced to the input signal ) over a range of frequencies

GAIN It is the relative increase or attenuation of amplitude and is calculated by dBv=20 log (V/1V) Ex. If V is equal to 1V is

0dB

2V or doubled is 6dB

0.5V or half is -6dB

PHASE The angular displacement of the signal measured in degrees

? = tan-1 (reactance/resistance)

FREQUENCY It is plotted in logarithmic scale to help condense the plot to more reasonable size. Corner Frequency The frequency at which the magnitude of the two impedances equal one another For R & C fc = 1/ (2? RC) For L & C fc= 1/(2 ? vLC)

BASIC RULES FOR STABILITY:

PHASE MARGIN greater than 45o but less than 315o when loop gain is 0dB GAIN MARGIN is -20dB or lower when loop phase reaches 360o

COMPENSATION FEEDFORWARD