Closed Loop Control System
Closed Loop Control System
D Gd
Yd
Ysp Ý sp E P U Yu +
Km +
Gc Y
- Gv Gp +
Ym
Gm
Z = Πf
Zi 1+ Πe
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’(∞)
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)
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.
Row
1 an an-2 an-4 …
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
S4+5s3+3s2+1=0