Professional Documents
Culture Documents
Lecture 6
Asst. Prof. Dr. Mongkol Konghirun EE, KMUTT
Speed Controller
* ia
+ ia -
Current controller
Vcontrol
PWM Driver
Chopper
Current feedback
- Vo +
ia
DC Motor
Te
Tl Tachogenerator
1 1 + sT
i i
i * (Command current)
a
t 0
Vdc
t 0
Characteristic Switching frequency Speed of current response Ripple current Filter size Switching losses
On-Off Control
This control law applies the maximum corrective action. The controllers mathematics is
U = U max U = U min
if e > 0 if e < 0
On-Off Control
It is simple. There are no parameters to choose. It typically results in a system variables oscillating because the system overreacts. A dead-zone or hysteresis are usually introduced to take care the undefined control at zero error.
On-Off Control
U U U
U max
U max
U max
U min
U min
U min
Proportional Control
This control law attempts to avoid the oscillation introduced in on-off control. The controllers mathematics is
U = U max U = Ke + U b U = U min
Proportional Control
U U max
Slope = Ub
K=
Proportional Control
However, the control law does not take care the plants characteristic variations or plant disturbance, finally causing the steady-state error.
2 y
2
1 = before plant characteristic variation happened 2 = after plant characteristic variation happened
u Ub Control bias must be change in order to keep the zero steady-state error.
Proportional Control
Proportional controller.
y
U = Ke + U b
In steady-state,
2 1
y = r , e = 0, u = U b
u = U b , y = y2 , e 0
1 = before plant characteristic variation happened 2 = after plant characteristic variation happened
u
Ub Control bias must be change in order to keep the zero steady-state error.
Integral Control
Using only the proportional control, there is normally an error in steady-state. This control law is to ensure that the process output agree with the setpoint in steady-state. With integral action, a small positive error will always lead to an increasing control signal, and a small negative error will give a decreasing control signal.
Integral Control
Integral action can also be visualized as a device that automatically resets the control bias, Ub. With P-control, the controllers mathematics is
U = Ke + I
(PI control)
K I = edt + I 0 Ti
Integral Control
With P-control, the controllers mathematics is
U = Ke + I
(PI control)
K I = edt + I 0 Ti where Ti = integral or reset time 1/Ti = measurement of speed of response (referred to as reset rate) Ti Time constant of plant
Integral Control
t p (Peak time) M p (Overshoot) 1.0
1%
0.9
Effect of increasing PI gain to the step transient responses Rise time Gain increased K decrease Settling time overshoot stability
Ti
increase
decrease increase
10
Derivative Control
The purpose of this control law is to increase the damping and improve the closed-loop stability. Because of typical process dynamics, it will take some time before a change in the control variable is noticeable in the process output. Thus, the control system will be late in correcting for an error.
Derivative Control
This control law extrapolates the control output in advance, then improving the system stability. With P-control, the controllers mathematics is
U = Ke + D (PD or predicted control)
11
Derivative Control
Using the Taylor series expansion of a function about a point (x = a). f(a+x) = f(a) + f(a)x + f(a)(x)2 /2! + For the error, e(t+Td)
e(t + Td ) e ( t ) + Td
de + ... dt Thus, the control law is usually an estimate of proportional control at time ahead. U = Ke ( t + Td ) = Ke ( t ) + KTd
de + ... dt
Derivative Control
However, the derivative action may result in difficulties, if there is high frequency noise in feedback, y. For a given sinusoidal measurement noise, n = sin(t), then, the contribution to the derivative term of the control signal is
U n = KTd dn = KTd cos ( t ) dt
12
Derivative Control
Clearly, the amplitude of control signal can thus be arbitrarily large if the noise has a sufficiently high frequency (). To avoid this difficulty, the feedback y with the high the frequency noise may be prefiltered.
Derivative Control
Another negative side of D-control can be explained as follows. According to the Dcontrol equation.
D = KTd d (r y) = KTd dt dr dy dt dt
The reference must not be suddenly be changed (i.e., step change) because the dr/dt become infinity.
13
Derivative Control
Therefore, the reference should be gradually changed from one setpoint to new setpoint. This could be done by using a simple firstorder low-pass filter at reference.
U = P+I +D
P
where
P = Ke
u
+ e I +
K I = edt + I 0 Ti de D = KTd dt
14
15
Lecture 6
Asst. Prof. Dr. Mongkol Konghirun EE, KMUTT
16