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Chapter 7

Control Actions System Compensation

Chapter Objective:
Control Action
PID Controller
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ME2142 Feedback Control Systems

C7.1

Control Actions System Compensation


Discusses the control actions typically used for the
controller.
What do you do if the systems output does not meet with
your requirements?
Apply the appropriate control actions to get it to respond closer to
what you want.

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ME2142 Feedback Control Systems

C7.2

Commonly Used Control Actions

Proportional (P) Control

where

is the called the proportional gain.

Integral (I) Control

where is the called the integral gain.


Differential (D) Control

where

is the called the differential gain.

Neither the integrator nor the differential controller are used on its own.
There are usually used in combination with the proportional controller.
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ME2142 Feedback Control Systems

C7.3

Commonly Used Control Actions


Proportional-plus-Integral (PI) Control

where

and

are the proportional and integral gain, respectively.

Proportional-plus-Derivative (PD) Control



where

and

are the proportional and differential gain, respectively.

Proportional-plus-Integral-plus Derivative (PID) Control

where , , and
respectively.

Sometimes

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are the proportional , integral gain, and differential gain,

is written in the form


1
1
ME2142 Feedback Control Systems

- Integral Time
- Derivative Time
C7.4

Effects of Control Actions


dc motor under speed feedback control
D

Example
R

Gc

T +

Km
Tm s 1

is output speed
is reference input
is motor torque
is disturbance/load torque

Proportional Control with


1
1
1

The resulting system is still first-order and will always be stable.


The resulting time constant, , is reduced to a faster speed of response.
Steady-state error to unit step has changed from 1

to

. Still

non-zero since the system is Type 0.


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ME2142 Feedback Control Systems

C7.5

Effects of Control Actions


dc motor under speed feedback control
Effect of Load Disturbance

With
0, the block
diagram becomes

Aug-15
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ME2142 Feedback Control Systems

C7.6

Effects of Control Actions


dc motor under speed feedback control
Proportional (P) Control
Effect of Load Disturbance
R

Let
E

T +

Gc

D
+

Km
Tm s 1

D +

Km
Tm s 1

For a unit step disturbance

Kp

1
1

lim
1

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Step disturbance causes the output


to have a steady state value.
Therefore speed regulation is
affected.
ME2142 Feedback Control Systems

C7.7

Effects of Control Actions


dc motor under speed feedback control
D

PI Control
R

Gc

T +

Km
Tm s 1

With PI control, the forward transfer function becomes


A Type 1 system: steady-state error to step input is zero.
Also,
/

1
1

where

Increasing Kp increases damping. Increasing Ki increases natural


frequency and reduces damping.

Aug-15
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ME2142 Feedback Control Systems

C7.8

Effects of Control Actions


dc motor under speed feedback control
Proportional (P) Control
Effect of Load Disturbance

Let
R

D +

Km
Tm s 1

Gc

0
T +

D
+

Km
Tm s 1

Gc

For a unit step disturbance


1
1

lim
1

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Disturbance has no effect on the


output in the steady state.

ME2142 Feedback Control Systems

C7.9

Effects of Control Actions


dc motor under position feedback control
Example
R

Gc

Km
s(Tm s 1)

is output position
is reference input
is motor torque
is disturbance/load torque

Proportional Control with

2
/

The resulting system is a Type 1 second-order system.


Steady-state position error to a step input is zero.
Increasing
increases
and thus speed of response but reduces
damping.

Aug-15
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ME2142 Feedback Control Systems

C7.10

Effects of Control Actions


dc motor under position feedback control
PD Control
R

Gc

Km
s(Tm s 1)

C
PD Control with

Open-loop transfer is
1

Closed-loop system remains a Type 1 system with zero steady-state


error to step inputs.
Closed-loop Characteristic Equation
1
1

Addition of derivative control allows damping to be increased


without affecting system type and natural frequency.
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ME2142 Feedback Control Systems

C7.11

Effect of PID gains to system dynamics


In general, the effects of increasing each of the PID
parameters , and
can be briefly summarized as
follows:
PID
Paras

Responsesspecifications
RiseTime

Overshoot

SettlingTime

SSError

Decrease

Increase

NT

Decrease

Decrease

Increase

Increase

Eliminate

NT

Decrease

Decrease

NT

NT No definite trend
Note: This experience is generally true, but NOT always true.

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ME2142 Feedback Control Systems

C7.12

PID Tuning
Ziegler and Nichols Tunning Rules
In many cases, the plant is so complicated that its model cannot be
easily obtained, then experimental approaches to the tuning of PID
controllers is needed.
An empirical rules.
Two approaches:
Ultimate gain approach
Based on Step Response

PID representation used


1
PID

Gc(s)

Plant

Gp(s)

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ME2142 Feedback Control Systems

C7.13

Ziegler and Nichols Tunning


Step Response Approach
PID

Plant

Gc(s)

Gp(s)

Base on the plant has the model of the form


1
Method:
Obtain the unit step response of the system
Tuning controller based on the table below:

P
PI

0.9

PID

1.2

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0.3
2

0
0
0.5

ME2142 Feedback Control Systems

C7.14

Ziegler and Nichols Tunning


Ultimate Gain Approach
PID

Plant

Gc(s)

Gp(s)

Base on the plant has the model of the form


Method:
Using proportional control action only, increase

the output exhibits a sustained oscillation.

Take note of the critical gain value


and its corresponding period
Tuning controller based on the table below:

0.5

PI

0.45

1
1.2

PID

0.6

0.5

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0
0
0.125

ME2142 Feedback Control Systems

C7.15

PID Tuning Example


Consider the control system as shown below with a PID controller.
1

Lets use the ZN-Ultimate Gain Approach.


1. To determine the ultimate gain (
Setting

and

The C.L.C.E is

) and ultimate period (

0, the C.L.T.F is
6

).

RouthArray
1

0.

From the constructed Routh Array, the sustained oscillation will occur
at
30.
, the CLCE will have roots
. Hence
At
6
5
30 0
5
6 5
0
5
can be calculated as
The ultimate period
2
2.81 s

6
30
6

2. Tuning using The table in previous page.


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ME2142 Feedback Control Systems

C7.16

PID Tuning Example


Consider the control system as
shown below with a PID controller.

Unit-Step Response
1.8
1.6
1.4

0.6
0.5
0.125

18
1.405
0.35124

1
18 1
1.405
6.322
18
6
11.3223

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0.35124

1.2

Amplitude

Lets use the ZN-Ultimate Gain


Approach.
2. Tuning using
and
, we have

1
0.8
0.6
0.4
0.2
0

12.811
18
12.811

ME2142 Feedback Control Systems

10

15

Time (seconds)

C7.17

The End

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ME2142 Feedback Control Systems

C7.18

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