Unit-1 Introduction Hareesha N Gowda Asst Professor Dept of Aeronautical Engg Dayananda Sagar College of Engineering [email protected] Input Output Input |cona syte Output , ieSyllabus Concept of automatic controls Open loop and closed loop systems Concepts of feedback systems Requirements of an ideal control system Types of controllers — Proportional, — Integral — Proportional Integral, — Proportional Integral Differential controllers 07 HrsDisclaimer The contents used in this presentation are taken from the text books mentioned in the references. | do not hold any copyrights for the contents. It has been prepared to use in the class lectures, not for commercial purpose. Hareesha NGWhy Automatic control systems are required? * Automatic control has played a vital role in the advance of engineering and science. It is more important in space-vehicle systems, missile-guidance systems, robotic systems, modern manufacturing and industrial processes. * For example, — Numerical control of machine tools in the manufacturing industries. — Design of autopilot systems in the aerospace industries — Design of cars and trucks in the automobile industries. — Speed GovernorsWhy Automatic control systems are required? It is also essential in industrial operations as — controlling pressure, — temperature, — humidity, — viscosity, and — flow in the process industries. Automatic control helps in attaining optimal performance of dynamic systems, improving productivity, relieving the drudgery of many routine repetitive manual operations.Examples of Automatic control systems Automatic water lever controller Automatic Engine speed controller ot Supply ‘working fliConcept of automatic controls An automatic control system is a pre-set closed-loop control system that requires no operator (human) action. Automatic control uses application of mechanisms to the operation and regulation of processes without continuous direct human intervention. This assumes the process remains in the normal range for the control system. An automatic control system has two process variables associated with it: = acontrolled variable = a manipulated variable. A controlled variable is the process variable that is maintained at a specified value or within a specified range. In the previous example, the storage tank level is the controlled variable,Concept of automatic controls * Amanipulated variable is the process variable that is acted on by the control system to maintain the controlled variable at the specified value or within the specified range. * The flow rate of the water supplied to the tank is the manipulated variable. Functions of Automatic Control * In any automatic control system, the four basic functions that occur are: — Measurement = Comparison — Computation = CorrectionBasic Definitions System : A system is a combination or an arrangement of different physical components which act together as a entire unit to achieve certain objective. * Eg., —A classroom is a physical system. A room along with the combination of benches, blackboard, fans, lighting arrangement etc. can be called as a classroom which acts as elementary system. — In a classroom, professor is delivering his lecture, it becomes a control system as; he tries to regulate, direct or command the students in order to achieve the objective which is to input good knowledge to the students.Basic Definitions — Manipulated Process = Res input variable Plant : — The portion of a system which is to be controlled or regulated is called as the plant. — A plant may be a piece of equipment, perhaps just a set of machine parts. — The purpose of plant is to perform a particular operation. — E.g., mechanical device, a heating furnace, a chemical reactor, or a spacecraft. Process: — Any operation to be controlled is called a process. — Examples are chemical, economic, and biological processes.Basic Definitions Controller : — The element of the system itself or external to the system which controls the plant or the process is called as controller. — E.g., ON/OFF switch to control bulb. sieesatial Oistrbance Manigulatina Variables Comparator \, mss Oot Set Values free Feedback Ieasured QutoutBasic Definitions Input: — It is an applied signal or an excitation signal applied to control system from an external energy source in order to produce a specified output. — For each system, there must be excitation and system accepts it as an input Output : — It is the particular signal of interest or the actual response obtained from a control system when input is applied to it. — for analysing the behaviour of system for such input, it is necessary to define the output of a system. Disturbance input Command Manipulated 1 input ei variable Controlled +| Controlter +| Process ~~ outputBasic Definitions Disturbances : Disturbance is a signal which tends to adversely affect the value of the output of a system. Disturbances are undesirable and unavoidable effects beyond our control, generated from outside process-environment, and from within. If such a disturbance is generated within the system itself, it is called as internal disturbance. The disturbance generated outside the system acting as an extra input to the system in addition to its normal input, affecting the output adversely is called as an external disturbance. The presence of the disturbance is one of the main reasons of using control. Disturbance: input Manipulated i variable Controtied Process = eeClassification of Control Systems 1) Natural Control System — Universe — Human Body 2) Manmade Control System — Vehicles — Aeroplanes 3) Manual Control Systems. — Room Temperature regulation Via Electric Fan — Water Level Control 4) Automatic Control System — Room Temperature regulation Via A.C — Human Body Temperature ControlClassification of Control Systems 5) Open-Loop Control System Input Output — Washing Machine i | Valve Soma —+ (Manipulated (Controlled variable) output)Closed loop control systems Feedback Control Systems. + A system that maintains a prescribed relationship between the output and the reference input by comparing them and using the difference as a means of control is called a feedback control system. Closed-Loop Control Systems. * Feedback control systems are often referred to as closed-loop control systems. * In practice, the terms feedback control and closed-loop control are used interchangeably. * In a closed-loop control system the actuating error signal (which is the difference between the input signal and the feedback signal) is fed to the controller so as to reduce the error and bring the output of the system to a desired value. * The term closed-loop control always implies the use of feedback control action in order to reduce system error.Closed loop control systems ==> Forward path Reference 2) controled transducer] t output 0 P (%) 100 ‘Neutral Ex, ON/OFF switch zone Controller output — Ace O +Aer + Error (%) The relation shows that when the measured value is less than the set-point (i.e. ep > 0), the controller output will be full (i.e. 100%), when the measured value is more than the setpoint (i.e. ep MV) and there is an Offset. + Ina Proportional only system under load there will always be an Offset and that offset will vary dependant on the size of the load. Gourtesy: http://aeroquad.com # hProportional Action Summary Proportional control will always result in an Offset between Measured Value and Desired Value and for every load there will be a different steady state water level. As the Gain increases the Offset decreases. As the Gain increases the stability decreases until the system becomes unstable. With Proportional only control a compromise must be reached between size of Offset and stability by adjusting the Gain. In some systems an Offset is acceptable, as in the water tank described above, and Proportional only control is acceptable. However in other systems an offset of any size is unacceptable and some other form of control is required.Integral control action * With the system we described above, under load, assuming the Gain of system has been adjusted to its optimum value, the water level will settle with an Offset from the Desired Value. * By adjusting knob B so that the float moves upwards, relative to the water level, the Supply Valve will open more, the flow in will increase and the Offset will reduce. * Eventually a new height of the Float will be found where the flow into the tank equals the flow out , the Measured value equals the Desired Value and Offset will be zero.Integral control action The speed at which the Float height is adjusted can be fast or slow. If it is too fast the system can become unstable (hunting) and if it is too slow time will be wasted. With Integral control the speed at which Offset is removed is made directly proportional to the size of the Offset. In the water tank system, we could achieve this by operating knob B with a variable speed servo motor. The amount of integral action applied would be controlled by adjusting the ratio between Motor speed and size of Offset.Derivative control action Not all systems can be controlled by Proportional and Integral control only. In the water tank system, an increase in load results in an immediate drop in water level and the Float. The Supply Valve is immediately opened allowing water into the tank. In some systems there is a delay or lag in response to a change in load. For example, a wind tunnel has a large heavy fan. If more power is applied to increase the fan's speed there will be a significant delay before the new speed is achieved due to the time needed to overcome the inertia of the fan. To overcome the inertia more power (than actually required) is required to maintain the desired speed (DV), to accelerate the fans speed change.Derivative control action * The additional power is then reduced to the level required to maintain the required speed. In the water tank system, under Proportional and Integral control, knob B is operated by a variable speed servo motor. If there was inertia in the system, due to friction in the linkage between the Float and the Supply Valve, Derivative action would temporarily apply a higher speed to the servo motor than was necessary to remove the Offset. Summary: a. 2. Derivative action speeds up the removal of the Offset. It is required in systems which have large time delays due to Inertia or large capacities. It tends to make a system more stable as it is increased it can cause hunting and instabilityP+I+D controllers summary Proportional action (P) Integral action (1) Derivative action (D) Arrests Restores Accelerates It arrest the change of the Measured Value but always with an Offset from the Measured Value It removes the Offset It speeds up the removal of the OffsetReferences: Modern Control Engineering, Katsuhiko Ogatta, Pearson Education,2004. . Control System Engineering, U.A.Bakshi 3. Control Systems, W. Bolton, Elsevier Ltd. http://aeroquad.com/showwiki.php?title=A-Guide-To-Proportional- Integral-and-Derivative-PID-ControlDisclaimer The contents used in this presentation are taken from the text books mentioned in the references. | do not hold any copyrights for the contents. It has been prepared to use in the class lectures, not for commercial purpose. Hareesha NGPlease to me if you have any suggestions/criticisms. [email protected]