Documentos de Académico
Documentos de Profesional
Documentos de Cultura
2010
Part-B
2010
Proportional Control
Control Laws & Control Configurations
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
Proportional Control
Proportional Control-II
CO
-em
saturation
Kp.em em
CO
-em
saturation
Kp.em em
Proportional Band
v=SP + Percentage change in controller input which would result in 100% change in controller output
e Kp
CO Gp(s)
y=PV
CO
-em
saturation
Kp.em em
Let Kp.em=100%
e
em= 100%/Kp
Proportional band
2010
Proportional Band-II
Vss =1+1/Kp e-sT/(1+s) ess =1/Kp
COss=1 yss=1
Kp
Gp(s)
vss is the input required for producing an output y=1 ess= 1/Kp Percent steady state error 100/Kp. This is the Proportional band
Let Kp.em=100%
em= 100%/Kp
SS errors occur because the plant is Type Zero Proportional band
2010
Proportional Band-III
Error in the presence of Steady load Load (L) v + e Kp eKp + Gp(s) =e-sT/(1+s) + y Normally load is negative
ess=vss/(1+Kp) - Lss /(1+Kp) For v=0, ess= - Lss /(1+Kp) - Lss /Kp ess (100/ Kp)(- Lss /100)
2010
SS errors occur because the ess % = PB% of (- Lss % ) plant is Type Zero PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
Proportional Band-IV
Significance of Proportional Band
PB % = 100/Kp % PB % = maximum % error before the controller saturates PB = % age ss error with 100% step input* PB = (negative) % age ss error with 100% load*
* requires 100% CO produces 100% PV
Exercise:
% ss error with 40% input=0.4 PB % ss error with -67% load =0.67 PB % ss error with 30% input & -10% load = (0.3+0.1)PB = 0.4 PB.
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
Choosing Kp
Designers try to use as high Kp, that is as small PB as possible The incentives are improved closed loop performance
Smaller steady state error . Faster response. Lower sensitivity to parameter variation.
10
90%
SS Error=50%
K G p (s ) = s +1
2010
11
K 1 1 K 1 + s = = = Gcl (s ) = K K + 1 + s 1 + 1 + s 1 + 1 1+ 1 + s K KG p (s )
2010
As K increases, effect of plant parameters PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu decreases
12
K=1
10
1
10
Magnitude (dB)
20 10 0 -10 -1 10 System: untitled1 0 Frequency (rad/sec): 4.87 10 Magnitude (dB): -3.18 Frequency (rad/sec) Bode Diagram 10
1
K=10
10
2
Magnitude (dB)
20 10 0 -10 -1 10 System: untitled1 1 10 Frequency (rad/sec):10 15.6 Magnitude (dB): Frequency (rad/sec) -3.14 PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
0
K=100
10
2
2010
13
Bode Diagram
gcf=wg
Magnitude (abs)
0
10
Gain Margin
Phase (deg)
10
-1
Phase Margin
1 2
pcf=wp
10
10
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu Frequency (rad/sec)
14
When the plant has a gain K1, the term K1Kp should be used in place of Kp
At = g , M = K p = 1+ g 2
2 2
=1
Approximate relation
or , g = or , g Kp
K p 1 K p
2
[ for K p >> 1]
K p 1
2
Exact relation
g =
2010
15
At = p ; M =
Kp 1 + p 2 2
2 2
1+ p 1 GM = = M ( p ) Kp GM dB = 20 log10 (GM )
GM
p g
2010
16
For pT >> 1,
Quadratic equation
pT
= pT 2
p
2T
17
2010
Finding PCF
Finding p Two Methods:
Using quadratic equation Approximation
pT
Problem:
Using exact equation and iterative method Let = 20 s, T = 3 s, find p Quadratic approximation gives p=0.553
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
18
Finding PCF-II
Iterative Method
First value: 1.5 p 0.5 2T T
Using
1st iteration 1 1 1 p + tan ( ) 2T T 0 . 5 20 1 . 57 + 0 . 0333 = 0 . 5566 3 2nd iteration 1 . 57 1 1 1 + tan ( ) p 3 3 0 . 5566 20 0 . 553 3rd iteration : p 0 . 553
19
pT
+ tan (
2010
Finding PCF-III
Angle Check
K P GP = 0.553 3 tan
(0.553 20)
20
The corresponding proportional gain is called the critical gain or the Ultimate Gain. The ultimate gain can be determined either experimentally or analytically.
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
21
Ultimate gain-II
Critical gain K is the value of KP such that g P is the same as p.
10
1
KP
10
10
-1
g=p
10
10
2010
Frequency (rad/sec) PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
22
Ultimate Gain-III
1 + 2 2 when g = p , KP 1 + p 2 2 =1 2 1+ 2T
1/ 2 2
K p GP =
KP
When the plant has a gain K1, the term K1Kp should be used in place of Kp
KP = 1+ p = 1+
2 2
2 2
4 T2
4 T2 1 + = 2 2 2T
2 T2 1 T 1 + + K P 1.5 2 T 2 2 2 T T
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
23
GM = the factor by which gain may be enhanced without making the system unstable
=1 =1
You may convert GM to dB
When K P = K P , p = g ,
KP 1+ p 2
2
2 1+ p 2 p KP as before GM = = 2 KP 1 + g 2 g
2010
24
All angles and the margin in Radian Dont forget to convert to degree
= gT
+ tan ( 1
gT +
2010
25
Examples-1
Problems: (1) For a plant with K=1, = 10 s, T = 1 s, find the pcf of the system (2) For the above plant with a proportional controller of gain KP=7.5, find the gcf and PM.
2010
26
Solution to Example 1
1.57 Prob(1) : p 1.57rad / s 2T T
1 Prob (1) : Itn1: p 1.57 + 1.63; 1.57 10 1 Itn2 : p 1.57 + 1.63 1.6310
2010
27
Solution to Example 1
Prob(2) : 1 2 g = ( KK p ) 1 = 7 .5 1 = 0 .74 rad / s 10 1 1 ) = 0.964rad = 55.26 deg PM = g T + tan ( g 2 1 even with approx : g T + 2 g 1 = 1.57 0.74 + = 0.965rad 0.74 10
2
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
28
Examples- 2
Problem: Let K=2, = 10 s, T = 1 s, and a proportional controller with gain KP=7.5/2=3.75 be used. Find the pcf, gcf and PM of the system
2010
29
Solution to Example 2
1.57 p 1.57rad / s 2T T
Exact p = 1.63
g =
KK
2 p
1 1 = 10
7 . 5 2 1 = 0 . 74 rad / s
PM =
gT +
= 55.3 deg
The combined effect of KKP is considered when the process has non-unity gain.
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
30
Example-3
Problem: Let K=1, = 30 s, T = 10 s, find the pcf of the system Design a proportional controller to provide a gain margin of 6dB. Find the gcf and PM of the controlled process.
2010
31
Solution to Example-3
p
2T 1.57 0.157rad / s T
As T/ is not small, the approximations are not good
K P = 1 + p 2 2 1 + 0.176 2 30 2 = 5.37
32
Solution to Example-3
g =
1 = 30 1 K p 1
2 2
2 . 69 1 = 0 . 083 rad / s
2010
33
Solution to Example-3
PM = g T tan g = 3.14 0.83 1.19 = 1.12rad = 64.2 deg
PM ( / 2) g T + (1 / g ) 1.14rad = 65.4
o
( )
2010
34
2010
35
PI Control
Proportional gain in a P-control cannot be increased beyond a certain value due to PM and GM constraints Limited P control means
Steady state error Steady state error changing with load,
requires resetting the set point to get constant PV
Steady state error (offset) may be completely eliminated by reset (PI) PI control. The I-action obviates the need for frequent manual reset and hence called auto reset or simply reset action
2010
36
KP
CO ( s) = K P + K I dt KI KP 1 K K (s) = K P + = K P (1 + ); TI = s sTI KI
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
Unit?
37
Reset Time
KI 1 + sTI 1 K K ( s) = K P + = K P (1 + ) = KP ( ) s sTI sTI KP = Reset Time TI = KI
The Reset time indicates the time after which the reset action becomes predominant It also provides an indication about the expected time when the offset can be said to be practically eliminated.
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
38
Reset Time-II
e a CO aKit Time Time T1 aKP
The Reset time indicates the time after which the reset action becomes predominant At t =T1, the reset action output becomes equal to and just overtakes the proportional action output. T1=Ki/KP=Ti It also provides an indication about the expected time when the offset can be said to be practically eliminated.
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
39
Reset Time-III
E ( s)[1 + K P ( 1 + sTI 1 ) ] = R(s ) sTI 1 + s sTI (1 + s ) sTI (1 + s ) E ( s) = = 2 R(s ) sTI (1 + s ) + K P (1 + sTI ) s + s (1 + K P ) + K P / TI (1 + K P ) (1 + K P ) 2 4K P / TI
This result is valid for only slow reset
Consider a first order plant with just a time constant and a large reset time such that Ti~ . With large proportional gain, one of the closed loop pole is close to -1/Ti and the other is approx at Kp/ . The slower pole, with a time constant Ti is responsible for taking the steady state error to zero. The faster pole is the usual pole for proportional control.
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
40
Kp 1/Ti Freq
Why the steady state error should be zero with PI control Reductio Ad Absurdum Argument
Proof Outline:
Assume the system to be linear and the closed loop system is stable. Steady input and load are applied. Stability implies that in steady state all variables will remain constant. If the error is not zero (say a constant) its integrated value would keep on changing like a ramp which is impossible as it contradicts the steady state assumption.
Proof Limitation:
Not valid when the controller or actuator saturates, i.e. when the output reaches maximum value, because the linearity assumption is violated. Consequence: expect some steady state error at large load even with PI control.
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
42
Why the steady state error should be zero with PI control TF and Final Value Theorem
Load (L) + Gp(s) + v + e eKk y
PI Controller
43
Why the steady state error should be zero with PI control TF and Final Value Theorem-II
Load (L) + Gp(s) + v +
Final value theorem
e Kk(s) -
eKk
s (V L)TI ess = lt sE ( s ) = lt s 0 s 0 ( s + K (1 + sT ))G ( s ) P I p s (V L)TI = lt ; G p (0) 0 ; type zero or higher type s 0 K G ( 0) P p ess = 0; even if (V L) 0
For any steady SP and any steady Load, the steady state error would be zero.
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
44
Exercise
Taking a standard plant transfer function
Ke sT G p (s ) = 1 + s
and a PI controller, use final value theorem to prove that the steady state error must be zero with constant set point and steady load. Repeat the above with frequency domain analysis by letting j0.
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
45
If the load disturbance is such that even the highest possible output from the FCE cannot compensate the deviation
will PI control still assure zero offset? If not, what would be the behaviour when such load is suddenly withdrawn?
2010
46
Unit ve slope
1/
1/Ti
at GCF = g , M = 1 PM = + | = g =
(1 + 1
) =1
g T + tan 1
1 g TI
2010
47
Unit ve slope
~ M
*
1/ 1/Ti
; wherefrom
2
~ g
g g (1 +
( g TI ) Typically g 1.25 g
at PCF ( p ), =
2010
48
+ tan 1
1 = pTI 2
2T 1 1 tan 1 ] (k ) (k ) { p } { p } TI
49
2T
+ (1 / T )[ tan 1
Plant with PI Controller-Example Standard 1st order plant with delay , =1, T=0.1, Kp=8, Find pcf, GM, gcf, PM. Find the values of gcf, PM, pcf, GM, when an I-element with reset time Ti=0.3 s is added to the above P controller.
2010
50
2010
51
Find the values of gcf, PM, pcf, GM, when an I-element with reset time Ti=0.3 s is added to the above P controller.
9% increase in GCF
g = 7.9; g g (1+
) = 7.9x1.09= 8.61 (gTI )2 PM nearly ~ halved M at this freq =1.0017 1 1 1 1 PM= gT + tan tan = 26.12degree 2 g gTI
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
2010
52
pT
1 1 1 2 = p T p + + =0 pTI 2 2 TI
{ p } =
( 0)
= 15.7
53
54
Bode Diagram
10
Bode Diagram
wg~0.018 rad/s
Magnitude (abs) Phase (deg)
Magnitude (abs)
10
10
10
-1
10
-1
0
0
wp~0.6 rad/s
10
-2
10 Frequency (rad/sec)
-1
10
-2
10 Frequency (rad/sec)
-1
10
PM
(deg)
gcf
(rad/s)
Rise time
(s)
Proportional gain should be low enough to reduce the gcf so that the additional phase lag due to reset action can be accommodated Integral gain should be high enough (reset time should be small enough) to ensure quick reduction of offset (steady state error)
With adequate damping, the offset becomes negligible after a period of 3Ti.
Integral gain should be low enough (Ti large enough) to ensure adequate phase margin and damping ratio Typically Ti>3.3T
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
57
Empirical
(e.g. Ziegler Nichols)
Analytical
Phase budget
Gain reduction
2010
58
59
2010
60
10
10
-1
1 Required PM
10
-2
10 Frequency (rad/sec)
-1
10
2010
61
Magnitude (abs)
10
g=0.81
10
-1
Required PM
-2 -1 0
10
10 Frequency (rad/sec)
10
2010
62
Determine the phase angle of the plant at g and the additional phase margin .
Choose reset time Ti such that tan-1 (1/(g Ti ))= Determine the gain to satisfy the chosen GCF with PI control.Bode Diagram 1 10 Check GM.
Magnitude (abs)
10
g=0.81
10
-1
1 Additional PM
Required PM
-1 0
10
-2
10 Frequency (rad/sec)
10
2010
63
Magnitude (abs)
10
g=0.81
10
-1
1 Additional PM
10
-2
10 Frequency (rad/sec)
-1
10
2010
64
at GCF = g , M = 1 1 KP = . K
KK P 1 + ( g ) 2
(1 +
1 ( g TI )
2
) =1
1 + ( g ) 2 1 (1 + ) 2 ( g TI )
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
2010
65
Check GM.
GM = where
M p
( ) M ( p ) =
KK P 1 + ( p )
2
(1 +
1 ( pTI ) 2
2010
66
67
68
2010
69
Obtain the frequency (g) at which the plant phase angle is + PM+
Recheck phase Choose reset time Ti such that tan-1 (1/(g Ti ))= Bode Diagram Determine the proportional gain to satisfy the chosen GCF with PI control. 1 10 Check GM
Magnitude (abs)
10
g
10
-1
Phase (deg)
PM 2010
10
-3
10
-2
10 Frequency (rad/sec)
-1
10
70
Recheck phase
Choose reset time Ti such that tan-1 (1/(g Ti ))= Determine the proportional gain to satisfy the chosen GCF with PI control. Check GM
= g T tan 1 ( g )
2010
71
Ti =1/(g tan() )
2010
72
Determine the proportional gain to satisfy the chosen GCF with PI control.
Check GM
at GCF = g , M = 1 1 KP = . K
KK P 1 + ( g ) 2
(1 +
1 ( g TI )
2
) =1
1 + ( g ) 2 1 (1 + ) 2 ( g TI )
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
2010
73
Check GM
GM = where
M p
( ) M ( p ) =
KK P 1 + ( p )
2
(1 +
1 ( pTI ) 2
2010
74
75
2010
76
P-D Control
Some shortcomings of P-only control may be reduced by introducing derivative action. The derivative action imparts phase lead PD control may be used to improve damping and/or increased response speed.
Keeping the same proportional gain, D-Control may be used to improve phase margin, thereby increasing damping and reducing overshoots. (No Change of GCF or steady state error) D-Control allows increasing the proportional gain retaining the same phase margin, which improves speed of response (increasing GCF) and reducing ss error A mix of the above may also be used.
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
77
PD control-II
Down side of D-Control
Excessive increase of GCF
may make the closed loop system noise-prone More actuator BW may be required
PD control itself is not widely used except for slow systems like thermal systems. The D-element is used in conjunction with PI, making the popular PID controller.
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
78
PD controller
+ + + + + +
& y (t ) = CO = K p e(t ) + K D e(t ) Y ( s) Controller TF = = K p [1 + ( K p / K D ) s] = K p (1 + TD s ) E (s) where TD is called the derivative time
2010
79
CO input at t Td t
P-action output= Kp at
D-action output= Kd a
Step response of PD Controller contains an impulse at t=0 and is difficult to represent graphically
We would show the step response with roll off pole later
The ramp response is more informative At t=Td, the proportional action output overtakes the output from Daction
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
80
1/TD 45 90
Gain increases with frequency above = 1/TD Max phase lead =90 Lead at corner freq = 45
2010
81
Controller TF with roll off 1 + TD s Y (s) = = Kp E (s) 1 + TD s where D is a small number, typically 0.1 The roll off pole is at - 1/TD
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
82
PD w Roll Off
1/TD
10
1
1/TD
60 Phase (deg)
30
Ratio =0.1 Max phase lead reduced, occurs at 1/ from corner. Phase lead at first corner nearly at 45 deg, Phase lead before first corner unaltered. Max magnitude limited, Kp(1/ ). Would limit noise
10
2
0 -1 10
Freq Response
2010
10 10 Frequency (rad/sec)
83
Ramp Response 20
15 Amplitude
10
0 0
0.2
0.8
84
g
1/ 1/Td GM
Considerations:
2010
An important concern in PD Control is the GM With pure P-D control GM = 1/(Tdg) => Tdg =1/GM For a given GM, the obtainable phase lead at the GCF is arctan (Tdg) = arctan (1/GM)
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
85
2010
86
K1Kp
g
1/ 1/Td
2010
GM
87
Bode Diagram
Magnitude (abs)
g
10
0
10
-1
1/TD
-2 -1 0
45
88
90
Lead d
10
10 Frequency (rad/sec)
10
2010
PIC Lecture Sadhu Uncontrolled plant 2010 Prof. T.K.Ghoshal and Prof. Smita PD controller
Bode Diagram
Magnitude (abs)
10
10
-1
Chosen g
1/TD 45
90
Lead d
-+PM-d
10
-2
10 Frequency (rad/sec)
-1
10
89
2010
PIC Lecture Sadhu Uncontrolled plant 2010 Prof. T.K.Ghoshal and Prof. Smita PD controller
Obtain Td.
Find Kp to ensure the above GCF with PD control.
Td=1/(GM.g)
2010
90
1 Kp = . K 1 + ( g TD ) 2
1 + ( g ) 2
2010
91
Td =.447/.44=1.016, say 1.0 From the gain formula K1 Kp =8.1 => Kp =8.1/1.5 = 5.4
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
92
0.5
Pade artifacts
(negative suppressed)
0 0 5 10 15 20 25 30
Previous example, same plant and PM with only proportional control, the gain= 4.25 and GCF=0.315 are about 78% as obtained from PD Faster response, consistent with higher GCF, but higher overshoot in P-D. Marginally smaller SS error.
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
93
Modified PD controller
KP
+ + CO
KDs
PV
94
The modified controller gives same controller poles But the closed loop response of modified D-Control does not have the numerator differentiator Result: Less overshoot
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
95
0.5
Same Parameters as before Noticeably Less overshoot, same as P Same settling time Marginally more rise time, but faster than P-only
35 40
10
15
20 25 Time----->
30
2010
96
PD control exercise
Why is it necessary to place the zero of the PD controller at a higher value compared to the prospective gcf? Why a roll off pole is recommended for a PD controller. Enumerate the advantages and disadvantages of PD control in comparison to P control. What is the typical value of the product gTD? Justify. What is the typical value of obtainable phase lead in a PD control? In which situations is PD control contra indicated?
2010
97
2010
98
PID Controller
2010
99
PID Controller-II
Most widely used Combines the good effects of PI and PD control SS error is zero Response is faster than P or PI controlled plant
Industrial PID Controller
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
100
K CO ( s ) = K p + I + Kd s E ( s) s TI Td s 2 + sTI + 1 1 = K p (1 + + Td s) = K p ( ) LL (I) sTI sTI Product sTI + 1 K k ( s) K p ( )(1 + sTd ) LLL (II) form sTI approx (II) is valid when Td << TI s (TI + Td ) sTI sTI + 1 1 + sTd K k ( s) = K p ( )( ) LLL (III) With sTI 1 + sTd K k ( s) =
2010
P-D action
The TF II is convenient to apply for sketching asymptotic bode plot. This form was also popular in analog implementation, especially with roll-off pole, as shown in TF-III As the reset time is usually 5 to 8 times the derivative time, the error in approximation is not significant.
Roll off
102
KP
1/(TI)
1/(Td)
1/(Td)
Bode Magnitude Plot At low frequency, the reset action prevails and at higher frequency the derivative action prevails. In the mid-frequency, the behaviour is like proportional control
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
103
10
D-Zero
10 90
0
Phase (deg)
45 0 -45 -90 -1 10
0 1 2 3
10
10 Frequency (rad/sec)
10
10
1/Td
105
M =| K k ( j )G p ( j ) | = K p 1+ 1
2
1 + (TD ) 2
K1
2010
106
At GCF M = 1 Kp
1 + ( g TD ) 2 1 K1 1+ =1 2 2 2 ( g Ti ) 1 + ( g TD ) 1 + ( g )
( g ) = {K k ( j )G p ( j )}
= ( g T tan 1 g ) + ( / 2 + tan 1 g Ti ) + (tan 1 g TD tan 1 g TD ) = + (tan 1
2010
107
Using /2T as the seed, the following relation may be recursively applied to get the PCF. Usually, 3 iterations give acceptably good result. If the roll off pole is present, do not ignore the epsilon term.
At PCF, ( P ) =
; wherefrom ) 1 + ( g TD ) 2 1 + ( g TD ) 2
P =
2T 1 1 1 tan 1 (tan 1 T P PTi
g g (1 +
( g TI )
2010
108
2010
109
g 1/ 1/Ti 1/TD
2= tan-11/(gTi)]= Lag
2010
110
2010
111
112
1. 2.
3.
4. 5. 6.
7. Td =.447/.38=1.18s, say 1.2s; 8. tan (2 )=0.203 => TI= 1/(.447x.203)=11s 9. From the gain formula K1 Kp =8.1 => Kp =8.1/1.5 = 5.4
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
113
Empirical Tuning
Approaches:
Ziegler Nichols Cohen-Coon Chien Auto-Tuning method
114
Empirical Tuning-II
Plant parameters like T and , obtained from Process Reaction Curve,
In open loop.
The Ultimate Gain and the time period of oscillation are determined from
closed loop experiment. Called Continuous cycling method
115
116
Disadvantages
Since the test is conducted without controller feedback, any significant change in process load may provide erroneous results If the process is noisy, it may be difficult to determine which part of the reaction curve has the steepest slope so as to construct the tangent line. In such cases, multiple trials may be necessary. The graphical method is considered valid only if 0.1< T/ <0.5
2010
117
A P- controller with independent bias control, PV transmitter and multi-channel recorder would be necessary. A portable field duty storage oscilloscope would also serve the purpose.
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
118
119
-0.5
10
20
30
40
50
60
70
80
90
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Ti -P/1.2 P/2
Td --P/8
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Z-N Tuning-II
The Z-N tuning rules for Process Reaction Curve method is shown below Removes the difficulties associated with cycling
Longer experimental time Cycling may not be allowed for all plants
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Exercise
Control Law P PI PID K1 Kp 0.5Ku 0.45Ku 0.6Ku Ti -P/1.2 P/2 Td --P/8
p=/2T, P=2/p P= 4T
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Z-N Tuning-III
For P-Control Z-N rule provides:
GM = (Ku/KP)=2 6dB PM varies mildly with = /T For = 20 to 6, PM varies from 46 to 56.3 only. Corresponding damping ratios are approximately 0.46 to 0.56 The transient responses to step input do not differ greatly
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
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Z-N Tuning-III
For PI Control, Z-N rule provides:
GM = (Ku/KP)=2.2 6.8 dB PM varies mildly with = /T For = 20 to 6, PM varies moderately from 28 to 37.6 only. The corresponding closed loop damping ratios are misleading as the system is one order more than the P-control case and the TF has a zero. The transient responses to step input does not differ greatly compared to a P-controlled system with 45 phase margin.
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
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Z-N Tuning-IV
For PID Control, Z-N rule provides:
GM = (Ku/KP)=1/0.6=1.7 4.6 dB PM varies mildly with = /T For = 20 to 5, PM varies moderately from 34.8 to 44.1 only.
The ordinary PID shows a fast but more peaky closed loop step response when compared to PI controlled system.
See example
When the D-action is in the feed back loop, the peak is reduced.
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
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Z-N Tuning-V
Example: Given =20, T=3, K1= 10; Ku=11.1 ; P=11.4 s
Ti --
Td --P/8=1.4
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1 + g2 g 2 = g1 M 1 1 T 1 = p1 T p1 2 p 2 1 2 = = p2 T 2 1 2 = 1 = 1 + p1 T + p2 T = 1 1 p2 = p1 + = p1 + p1 T
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=1
g 1/ 1/Ti 1/Td
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Example
Given T=2 s, =7 s.
Select Kp, Ti, TD using Z-N method. Calculate GCF, PCF, GM, PM.
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Soln:
Given T=2 s, t=7 s, Select Kp, Ti, TD using Z-N method. Calculate GCF, PCF, GM, PM.
At PCF, G ( j ) = = pT
2
1 or , p p = 0 2 7 p = 0.868rad / s
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Soln: (contd)
Given T=2 s, =7 s, Select Kp, Ti, TD using Z-N method. Calculate GCF, PCF, GM, PM.
Also, Kp
( )
= 1 + (0.868 7 )2 = 6.1577 =1 K p
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Soln: (contd2)
Given T=2 s, =7 s, Select Kp, Ti, TD using Z-N method. Calculate GCF, PCF, GM, PM.
Now, Kp 1 + g 2 3.695
( )
=1 = 1 g1 = 0.5 = M1 = Kp 1 + g1 1+
(g 7)2 1+
K pG p M1 =
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= g1
1+
(g TI )2
1
1 + g1 TD
)2
3.695 1 + (0.5 7)
2
(0.5 3.62)2
Soln: (contd3)
Given T=2 s, =7 s, Select Kp, Ti, TD using Z-N method. Calculate GCF, PCF, GM, PM.
= M2 1+
Kp 1 + g 2
)2
(g TI )
2
1 + g 2 TD 1
M2 =
3.695
1+
(0.63 3.62)
1 + (0.63 0.905)
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Soln: (contd4)
Given T=2 s, =7 s, Select Kp, Ti, TD using Z-N method. Calculate GCF, PCF, GM, PM.
1 = p1 T
1 + tan 1 p1 TD p1 p1 TI 2 1 1 1 1 = 0.868 2 1.57 + tan tan + tan 1 (0.868 0.905) 0.868 7 0.868 3.62 = 1.736 1.57 + 0.163 0.308 + 0.6658 = 2.78 1 = 1 + = 2.78 + = 0.356 1 p2 = p1 + T 0.356 = 0.868 + = 1.046rad / s 2 + tan 1 tan 1
Now, p1 = 0.868rad / s
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Soln: (contd5)
Given T=2 s, =7 s, Select Kp, Ti, TD using Z-N method. Calculate GCF, PCF, GM, PM.
2 = p2 T
1 + tan 1 p2 TD 2 p2 p2 TI 1 1 = 1.04 2 1.57 + tan 1 tan 1 + tan 1 (1.04 0.905) 1.04 7 1.04 3.62 = 2.08 1.57 + 0.136 0.259 + 0.755 = 3.018 2 = 2 + = 3.018 + = 0.123 0.123 p3 = p2 + 2 = 1.04 + = 1.0461rad / s T 2 1 1 tan 1 + tan 1 p3 TD 3 = p3 T + tan 1 p3 p3 TI 2 1 1 = 1.1 2 1.57 + tan 1 tan 1 + tan 1 (1.1 0.905) 1.1 7 1.1 3.62 = 2.2 1.57 + 0.129 0.246 + 0.783 = 3.104 3 = 3 + = 3.104 + = 0.0375 0.0375 = 1.12rad / s p4 = p3 + 3 = 1.1 + T 2 + tan 1 tan 1
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Soln: (contd6)
Given T=2 s, =7 s, Select Kp, Ti, TD using Z-N method. Calculate GCF, PCF, GM, PM.
GM=3.21 dB PM=370
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Z-N Tuning-VI
derivative action on fwd path Rise time for PID is expectedly faster compared to Z-N tuned P and PI controlled systems
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Modified D in PID
derivative action on 1.6 feedback path
1.4 Closed Loop Response 1.2 1 0.8 0.6 0.4 0.2 0 0 5 10 15 20 Time 25 30 P PI PID-M
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Ti --
Td ---
0.45(1 +
0.67(1 +
Mixed empirical and plant parameter Results formatted for comparison with Z-N when >>T
For PID: 10% higher P- gain, 25% lower I-gain, 25% higher D-gain results in same gains as in ZN for P and PI
2010
PIC Lecture 2010 Prof. T.K.Ghoshal and Prof. Smita Sadhu
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Chien Method
Both the ZN and CC methods result in oscillatory closed loop response though with quarter amplitude damping In some applications, overshoots are not desirable and the above two methods are considered too aggressive. The method proposed by Chien guarantees either 0% overshoot or 20% overshoot. This method requires perform an open loop test to determine the dead time and time lag. The Chien method is valid only if T/ < 0.11. Once you determine the process characteristics fall within this range, you can determine the controller settings as outlined in Table.
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Chien Method-II
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