MECHATRONICS
UNIT III
CLOSED LOOP CONTROLLERS
Dr. V. L. Krishnan
Department of Mechanical Engineering
V R Siddhartha Engineering College,
Vijayawada
Learning Objectives
In this lecture you will learn about
• Introduction to closed loop
controllers
• Continuous and discrete processes
• Control modes
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Closed-Loop Control
• The output process is monitored by a sensor
providing feedback, allowing the controller to make
adjustments to the actuator.
Closed-Loop Control
• The difference in the actual and set point
produce an error, which the controller
responds too.
Properties of PD
1. Steady state, de/dt=0, PD control has steady state
error.
2. D function reduces oscillation, increases system
stability.
3. Adding D increase open loop gain, increase response
speed.
4. Sensitive to disturbance.
PID Control
• Simple, easy to use
• Wide Application: Petrochemical, Pharmaceuticals,
Food, Chemical, Aerospace and Semiconductor, etc.
• Robust: Insensitive to changes to plant parameter
and disturbance.
Over 90% control loops are PID with two exceptions:
1. On/off control for those with low control requirement
loops
2. Advanced control for those difficult systems and with
high control quality.
PID Controllers
• PID control consists of a proportional plus derivative
(PD) compensator cascaded with a proportional plus
integral (PI) compensator.
• The purpose of the PD compensator is to improve the
transient response while maintaining the stability.
• The purpose of the PI compensator is to improve the
steady state accuracy of the system without degrading
the stability.
• Since speed of response, accuracy, and stability are
what is needed for satisfactory response, cascading
PD and PI will suffice.
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• PID means Proportional, Derivative Integrative.
– In a classic control loop system, the PID is the
controller placed before the process:
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General rules of Design PID Controller
• Use D function, if system has large time constant
and time delay.
• Using PD if the system allows steady state error,
otherwise, using PID
• Use PI, if system has small time constant, small
disturbance and requires no steady state error.
• Use P, if system has small time constant, small
disturbance and allow steady state error.
• Use more advanced control scheme, if system has
large time constant, large time delay and disturbance.
The Characteristics of P, I, and D Controllers
Note that these correlations may not be exactly accurate,
because Kp, Ki, and Kd are dependent of each other. In
fact, changing one of these variables can change the
effect of the other two. For this reason, the table should
only be used as a reference when you are determining
the values for Ki, Kp and Kd.
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The Characteristics of P, I, and D Controllers
Response Rise Time Overshoot Settling SS Error
Time
Small
KP Decrease Increase Change Decrease
KI Decrease Increase Increase Eliminate
Small Small
KD Change Decrease Decrease Change
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Desirable Controller Features
• Quick responding
• Adequate disturbance rejection
• Insensitive to model, measurement errors
• Avoids excessive controller action
• Suitable over a wide range of operating conditions
• Tuning correlations - limited to 1st order and dead
time
• Closed loop transfer function - analysis of stability
• Repetitive simulation (computer and interactive
graphics)
• Frequency response-stability and performance
(computer and graphics)
• On-line controller cycling (field tuning)
Example problem of PID
• Suppose we have a simple mass, spring, damper problem.
• The dynamic model is such as:
mx + bx + kx = f
• Taking the Laplace Transform, we obtain:
ms 2 X (s) + bsX (s) + kX (s) = F (s)
• The Transfer function is then given by:
X (s) 1
= 2
F ( s ) ms + bs + k
Example problem (cont’d)
• Let
m = 1kg , b = 10N .s / m, k = 20N / m, f = 1N
• By plugging these values in the transfer function:
X (s) 1
= 2
F ( s ) s + 10s + 20
• The goal of this problem is to show you how each of
K p , K i and K d contribute to obtain:
fast rise time,
minimum overshoot,
no steady-state error.
Example problem (cont’d)
• The (open) loop transfer function is given by:
X (s) 1
= 2
F ( s ) s + 10s + 20
• The steady-state value for the output is:
X ( s) 1
xss = lim x(t ) = lim sX ( s) = lim sF ( s) =
t → s →0 s →0 F ( s) 20
Example problem (cont’d)
Open-loop step response
• 1/20=0.05 is the final value
of the output to an unit step
input.
• This corresponds to a
steady-state error of 95%,
quite large!
• The settling time is about
1.5 sec.
Example problem (cont’d)
Proportional Controller
• The closed loop transfer function is given by:
Kp
X ( s) s 2
+ 10 s + 20 Kp
= = 2
F (s) Kp s + 10s + (20 + K p )
1+ 2
s + 10s + 20
Example problem (cont’d)
Proportional control
• Let K p = 300
• The above plot shows that
the proportional controller
reduced both the rise time
and the steady-state error,
increased the overshoot, and
decreased the settling time
by small amount.
Example problem (cont’d)
PD Controller
• The closed loop transfer function is given by:
K p + Kd s
X ( s) s 2
+ 10 s + 20 K p + Kd s
= = 2
F (s) K p + Kd s s + (10 + K d ) s + (20 + K p )
1+ 2
s + 10s + 20
Example problem (cont’d)
PD control
• Let K p = 300, K d = 10
• This plot shows that the
proportional derivative
controller reduced both
the overshoot and the
settling time, and had
small effect on the rise
time and the steady-state
error.
Example problem (cont’d)
PI Controller
• The closed loop transfer function is given by:
K p + Ki / s
X ( s) s 2
+ 10 s + 20 K p s + Ki
= = 3
F (s) K p + Ki / s s + 10s 2 + (20 + K p ) s + K i
1+ 2
s + 10s + 20
Example problem (cont’d)
PI Controller
• Let K p = 30, Ki = 70
• We have reduced the proportional
gain because the integral
controller also reduces the rise
time and increases the overshoot
as the proportional controller
does (double effect).
• The above response shows that
the integral controller eliminated
the steady-state error.
Example problem (cont’d)
PID Controller
• The closed loop transfer function is given by:
K p + K d s + Ki / s
X ( s) s 2
+ 10 s + 20 K s 2
+ K p s + Ki
= = 3
d
F (s) K + K s + K / s s + (10 + K d ) s 2 + (20 + K p ) s + K i
1+ p d i
s 2 + 10s + 20
Example problem (cont’d)
PID Controller
• Let K p = 350, K i = 300,
K d = 5500
• Now, we have obtained
the system with no
overshoot, fast rise time,
and no steady-state error.
Example problem (cont’d)
Summary
P PD
PI
PID
Temperature control of Steam Heating
Temperature control of Electric Heating
Level Control
References
Chapter 13, Closed Loop Controllers, Mechatronics by W. Bolton, Pearson
education, 3rd Edition