—Droportna! Corben [= Baportindl aan owlpul i - Pupil un shandin aoportional tonholler. t at Thal _ “Prom fer, -funchion of proportional conhollur with 2” 0 Aiplorn : — Qnautrace oly proportional conhollor.. RE) eG) Conhlld sp. Conhollur gpl flank [L CO). ofp. feodbadle - _ Lat w» fb rainy error wing conbvollur-. — Gor = Inpul- - bulpul- * Properkioneh conbolled oubp uk. enon ele conkllvy Conhollor iP olp- conballor oubpel for high k P- for low kp oo. ~~ie Advantage higher kp. — estar voipose * Advorlage Gj, bavor kp _ deurease tn mant. peal overthoo!: * Disadvan lowor kp — Slower response - L * Physical undwrslanding 4 paportinal conhollr . provi: When Kp= 2 ipulaked oe ls = elt) - kp: MO= gel) Grevor signdh & rnp 60) amplified by bp. _ foads {6 inoreae to wesponse. (faster) by se. to Mp. x g ctton pm evhonal conholler wih. ah hich >, RG) L4Gls) HS) agi CO _Kpn'/s*+ 2-$ ups kp wno Ris) = . Com U6 breif as sty 2G uy + kyu, om wilh slandard second Ih c(s) ‘a ee ordar Sli , RBS A Gon * Doadvan d) hishor kp _ fnovease i mart - pas ovshet: * Blocle dregram hee conholler : ae ce S(s42$u,) Cls) Conprallr ten = a E @ , G9 _, Ge) ~ np Lee | t c; y fndudit - onksllor, nalurall prepen cul ov Ob op - (w, & changest) by adit pe Now spaqpuney pe - “Kp T wrt fet Ge We « faal weaponse buk Mp “4 Dawwtadk 4 Proporkon al coal. — OFFSET ote OFFSET - Pighee Mo. E [ Gahegel cokeloe: | | ¥ Snton vara conhollar “ue on oulput which o iokepal ; 4 ie ensos signal x Conbvller ane ir id Improve the. Tesponre 4 the a conhol system foe , int conho loropis opovHional in ie i the ovr a f Ip * ae 4 Pope tonbollur b proportion & fr ip conbollur properkinal te D. * oy o} | lhe dyivalive d the envor aignal.. $n ra conholler op w(t) e(t) " ult) = { 7k ke - dole. cerstant by wing LT mo bat ideo » UG) = ksEOBlock diagno}, _conhel syst» fe peho@ 5B wing $n ral conmller ; the 4 lio is 4 ang oy uP + inove Q we can yuduce dy Bole ener, buk dy tsing type dp the aysbim , Alabilily dp Yho Alin ws low: 5 Dovivakive corboller vill howe geod blabilihy bulk! Aleady lala exvor aahigh, Zz Snegral conhallir will have low ess bak Abi bo bow. Dorrvalive conker: 4 Devivakive conhvollur produce on op ahich “a dusoleel fhe enwor M4N0K . ult) © fem ul) = k, 4-28) le UG) = kp -EG)-8 Tr 9 [UT I ky — Dorivalive corulank.Blode_ tiara _9 Ho conhal Depa - Res) lee 5! Re! a kps LOS aw 4 To improve the Alabili sonal can be wed. a -—-- oa Conbrollr sypere 6G) | a) the Agim , Devivalive | Blbiity & Yad Type vill will Yes fs dr pe ovkputs 24 pepe onal Sk = at yew want ant in dear Vie the aye ie alters the sity Po ult) 0 elt) + fect) x Snovenning She ruby Apres _ do guerre. Hrs, we Gn Sos ey Be HE dawn aes he 3h beady slat. ror Te . | Qgeitnal_d Anlogeal ital oo ducos an oulpur whidh B tombinastt inkegral onhollur fp tse Vatendy sta wray Yb yOsoMe 7 integral t bul of Bul of the Aygomn (dood) hate Joauboct 4 2 ¢ -tonbolline — offedi Alabilily. we PL tonhollor H kpt ke = p(s ul = Kel) + Ke feOi kp fie eal "daly LT om eds v@ = k,peG) + ky. CF. eG) sil Keec) ab indudi he | hy: He Aystom . ce) onea spel | elt) | ulk) = Kpee) + E,Jewde va. (ep +). €Cs) ( 3 Phugvea undenstan diy 4 p enor PL conhollu-, Cs & ved 4 ayplro 1p ped vithouk -afpeting. he Alabilly - Monipulolid op @ conhollur ole ult). ie tonballur . Proportional om kp = 2 2 ul) = haxel)“|e Siqnifreance- Properhin- Jntegral’ ombellur eT 1th Ces olp Jill err Myo - - ‘oy conbollur eltminais -Oreset. 2+ dk reduce 4 alt over , aoa ia Z spundhion % ° a ate Gis) (kp 2) Gezgas) * RES) “eG AS) WO el. apa . (ee *%)( | =) = ah ee L+ cet eae ce) . Kot li 1” Fy sigs Bay fps * ki) Wer “3s F 2S wyse py + Be ~) cls) (kps + ki) wy RG) gb y 2Suys” + pus 4+ hey—_ t . 4 P2 conbellr. y YUL iW Mae — Slower response. aotbo > + Alvordag q)_PL eli — improved dasnping Mon - peak. ovahoot jae. uo OFT FBoprtnal _colegnal. Swavelive (PED) cankro [lor ao gt produc an oukpak uid B the cambmnakion a, he oulputs 4}, proportional inegpal and dun ie conhollos . 7 Dorivahive wrolle — sleady date oror probly conbollur __Sladbilly. problem . shoe two bem can bx olved by ving PED (nboller - lp» ul alt) + felt) + 4 ef) ult) = kpelt) + k, fect) + ky 4 ett Kp - Proportional comlant kz — Snleqroh conlaat kp Derivahre coralaat-.“|e ‘drans}ur ~unctin. PID conhollor. “Galeing “Lt on bolk fd, vs) = kpe® + It EG) + kp. s Els) Ss le 5] <= PID conhollor. ul) = ECs) YO. kpt ez 4 kps es) a kar Kp + ea ape kpst + kps —5 tw zens cure Tnhoduce aan ona pole ts tnhoduead ge invroaser hx hype by & pot ak lorigin it tae, » lg pao - - By Tnorearery yes Slabilily of dhe. Ayla an & (improved. Ons. zoo will coment Who. inhodueed one poled andleer ore Apo wwill novease the lallly of Kd a. — Jtt aft) = pelt + i; [ew dt + a) UG) = kp €(s) + ky a ky sel) vO. (kr life + kos) \ Els) Quer - Devivahive oe eT # Phypical undursanding oh PID conhel Proportion ett) Z kgelt) def) df ler.* Signi fzcan co a PID conholbe: PRP — Fly vopome a — Css ved , ellminalts OFFSET. D — Smproves stabikihy, + x unchion : - Gta als) K Nexe Gl) = (ep +kiga ae > oy" (hals) Hts). Woe 2 cy . Werth" to )( pry o tT TY PY ~d Lassdo Lasaa0 S T Sat ay ey = 593 a Po + +e + dye ey +45» Pe , aial dd Td d A “wor wedi) —— “agony wed did pur dd! td dq woqueduay E