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Closed Loop Control System

The system is unstable because the coefficient of the highest order term (s^4) is positive. According to the Routh stability criterion, for stability all elements in the first column of the Routh array must be positive. Since the coefficient of s^4 is 1, which is positive, the system is unstable.

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49 views18 pages

Closed Loop Control System

The system is unstable because the coefficient of the highest order term (s^4) is positive. According to the Routh stability criterion, for stability all elements in the first column of the Routh array must be positive. Since the coefficient of s^4 is 1, which is positive, the system is unstable.

Uploaded by

kalyan mondal
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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IDEAL INSTITUTE OF ENGINEERING

NAME - KALYAN MONDAL


ROLL - 27901621046
DEPARMENT - ELECTRICAL
YEAR- - 3RD YEAR(5TH SEM)
SUBJECT - CONTROL SYSTEM
TOPIC -CLOSED LOOP SYSTEM
Standard Block Diagram of a Feedback
Control System

D Gd
Yd
Ysp Ý sp E P U Yu +
Km +
Gc Y
- Gv Gp +

Ym
Gm

Y= Controlled variable Yu= change in Y due to U


U=manipulated variable Yd= change in Y due to d
D=disturbance variable Gc=controller transfer function
P=controller output Gv=transfer function for final control element(including KIP, if required)
E=Error signal Gp=process transfer function
Ym=measured value of Y Gd=disturbance transfer function
Ysp=set point Gm=transfer function for measuring element and transmitter
Ŷsp=internal set point Km=steady state gain for Gm
Block diagram reduction
X1=G1U
U X1 X2 X3 X2=G2X1
G1 G2 G3
X3=G3X2
X3=G3G2G1U
U X3 X3=GU
G
G=G1G2G3
General expression for feedback control
systems

Z = Πf
Zi 1+ Πe

Z=output variable or any internal variable within the control loop


Zi=an input variable (Ysp or D)
Πf=product of transfer functions in the forward path from Zi to Z
Πe =Product of every transfer function in the feedback loop

For the regulator problem, Zi=D, Z=Y, Πf=Gd, Πe =GOL


Proportional control and set point change

Example, block diagram for level control system

Q’1
H’sp Ĥ’ sp E P’ P’t Q’2
+ H’
+
Km - Gc KIP Kv + Gp

H’m H’
Km
Closed loop responses of simple control
system
 The liquid level is measured and the lebel transmitter (LT) output is
sent to a feedback controller (LC) that controls liquid level by
adjusting volumetric flow rate q2. A second inlet flow rate q1 is the
disturbance variable. Assume

1. the liquid density and the cross sectional area of the tank A are constant
2. The flow head relation is linear, q3=h/R
3. The level transmitter, I/P transducer, and control valve have negligible
dynamics
4. An electronic controller with input and output in % is used (full scale 100%)

Gd(s)=1
If a proportional controller is used, then Gc(s)=Kc

H’(s) = KcKvKpKm/(τs+1)
H’sp(s) 1+ KcKvKpKm/(τs+1)

H’(s) = K1
H’sp(s) (τ1s+1)
where
K1 = KOL
1+ KOL
τ1 = τ
1+ KOL
KOL = KcKvKpKm
KOL, open loop gain
The closed loop response to a unit step change of magnitude M in set
point is given by

H’(t)= K1M(1-e-t/τ1)
Offset exists because the new steady state value is K1M rather than the
desired value of M

Offset = h’sp(∞)-h’(∞)

For a step change of magnitude M in set point, h’sp(∞) = M

Offset=M-K1M
Proportional control and disturbance
change
H’(s) = Kp/(τs+1)
Q’1(s) 1+ KOL/(τs+1)

H’(s) = K2
Q’1(s) (τ1s+1)

The closed loop response to a unit step change of magnitude M in


disturbance is given by

H’(t)= K2M(1-e-t/τ1)

Offset?
PI control and disturbance change
 For PI control, Gc=Kc(1+1/τ1s)

H’(s) =?
Q’1(s)
Stability of Closed Loop Control Systems
 An important consequence of feedback control is that it can cause
oscillatory responses.

 If the oscillation has a small amplitude and damps out quickly, then
the control system performance is generally considered to be
satisfactory.

 However, under certain circumstances, the oscillations may be


underdamped or even have an amplitude that increases with time
until a physical limit is reached such as a control valve being fully
open or completely shut.

 In this case, the closed loop system is unstable.


General Stability Criterion
 Most industrial processes are stable without feedback control, open loop stable
or self regulating

 Exothermic chemical reactors, open loop unstable. Difficult to operate without


feedback control

 . Definition: An unconstrained linear system is said to be stable if the output


response is bounded for all bounded inputs. Otherwise it is said to be unstable.

 Example, a liquid storage system that is not self-regulating


Response to a step change in inlet flow rate
h’(t)=(Mo/A)t
Open loop unstable, non self regulating, a bounded input has produced an
unbounded response
Characteristics equations
Y = KmGcGvGpYsp + Gd D
1+GOL 1+GOL
Consider set point change only
Y = KmGcGvGp
Ysp 1+GOL

Characteristic equation of the closed loop system


1+GOL=0
The characteristics equation plays a decisive role in
determining system stability
General stability criterion
The feedback control system is stable if and if only all
roots of the characteristics equation are negative or
have negative real parts. Otherwise, unstable.
Routh Stability Criterion
 Characteristics equation that has the form
 ansn+an-1sn-1+………+a1s+a0=0

 Row
1 an an-2 an-4 …

2 an-1 an-3 an-5 …

3 b1 b2 b3 …
4 c1 c2 …
. .
. .
. .
n+1z1

 necessary and sufficient condition for all roots of the characteristics equation to have
negative real parts is that all of the elements in the left coloumn of the routh array are positive
Rows 3, 4, and 5 contain the determinants using elements from the previous two
rows.                                                                                               
Example

1. S4+5s3+3s2+1=0

2. Find value of Kc that make the feedback control


system is stable,
10s3+17s2+8s+1+Kc=0
Determine the stability of a system that has the
characteristics equation

S4+5s3+3s2+1=0

Because the s term is missing, its coefficient is


zero. Thus the system is unstable.

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