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Unit 2: Controllers

This document discusses different types of controllers, including derivative controllers, proportional-integral controllers, proportional-derivative controllers, and PID controllers. It provides mathematical expressions for how each type of controller calculates the output signal. PID controllers are described as the best controller family as they combine proportional, integral and derivative control actions. The effects of the P, I, and D terms on rise time, settling time, overshoot and steady state error are also summarized.

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Bhartish Achutarao
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© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
47 views

Unit 2: Controllers

This document discusses different types of controllers, including derivative controllers, proportional-integral controllers, proportional-derivative controllers, and PID controllers. It provides mathematical expressions for how each type of controller calculates the output signal. PID controllers are described as the best controller family as they combine proportional, integral and derivative control actions. The effects of the P, I, and D terms on rise time, settling time, overshoot and steady state error are also summarized.

Uploaded by

Bhartish Achutarao
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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UNIT 2: CONTROLLERS

CONTROLLERS

Compiled by Prof Bharatish A, Dept. of Mechanical Engg, RVCE

UNIT 2: CONTROLLERS

Derivative Controllers
We never use derivative controllers alone. It should be used in
combinations with other modes of controllers because of its few
disadvantages which are written below:
1. It never improves the steady state error.
2. It produces saturation effects and also amplifies the noise
signals produced in the system.

Compiled by Prof Bharatish A, Dept. of Mechanical Engg, RVCE

UNIT 2: CONTROLLERS

Now, as the name suggests in a derivative controller the output


(also called the actuating signal) is directly proportional to the
derivative of the error signal. Now let us analyze derivative
controller mathematically. As we know in a derivative controller
output is directly proportional to the derivative of the error signal,
writing this mathematically we have,

Removing the sign of proportionality we have,

Where Kd is proportional constant also known as controller gain.


Derivative controller is also known as rate controller.
Advantages of Derivative Controller
The major advantage of derivative controller is that it improves
the transient response of the system.
Proportional and Integral Controller
As the name suggests it is a combination of proportional and an
integral controller the output (also called the actuating signal) is
equal to the summation of proportional and integral of the error
signal. Now let us analyze proportional and integral controller
mathematically. As we know in a proportional and integral
controller output is directly proportional to the summation of
proportional of error and integration of the error signal, writing
this mathematically we have,

Removing the sign of proportionality we have,

Where Ki and kp proportional constant and integral constant


respectively.
Advantages and disadvantages are the combinations of the
advantages and disadvantages of proportional and integral
controllers.
Compiled by Prof Bharatish A, Dept. of Mechanical Engg, RVCE

UNIT 2: CONTROLLERS

Proportional and Derivative Controller


As the name suggests it is a combination of proportional and a
derivative controller the output (also called the actuating signal)
is equals to the summation of proportional and derivative of the
error signal. Now let us analyze proportional and derivative
controller mathematically. As we know in a proportional and
derivative controller output is directly proportional to summation
of proportional of error and differentiation of the error signal,
writing this mathematically we have,

Removing the sign of proportionality we have,

Where Kd and kp proportional constant and derivative constant


respectively.
Advantages and disadvantages are the combinations of advantages
and disadvantages of proportional and derivative controllers

PID Control
Under Control SystemPID control stands for proportional plus
derivative plus integral control. PID control is a feedback
mechanism which is used in control system. This type of control is
also termed as three term control. By controlling the three
parameters - proportional, integral and derivative we can achieve
different control actions for specific work. PID is considered to be
the best controller in the control system family. Nicholas Minorsky
published the theoretical analysis paper on PID controller. For PID
control the actuating signal consists of proportional error signal
added with derivative and integral of the error signal. Therefore,
the actuating signal for PID control is -

Compiled by Prof Bharatish A, Dept. of Mechanical Engg, RVCE

UNIT 2: CONTROLLERS

The Laplace transform of the actuating signal incorporating PID


control is

There are some control actions which can be achieved by using any
of the two parameters of the PID controller. Two parameters can
work while keeping the third one to zero. So PID controller
becomes sometimes PI (Proportion integral), PD (proportional
derivative) or even P or I. The derivative term D is responsible for
noise measurement while integral term is meant for reaching the
targeted value of the system. In early days PID controller was used
as mechanical device. These were pneumatic controllers as they
were compressed by air. Mechanical controllers include spring,
lever or mass. Many complex electronic systems are provided with
PID control loop. In modern days PID controllers are used in PLC
(programmable logic controllers) in the industry. The proportional,
derivative and integral parameters can be expressed as - Kp, Kd
and Ki. All these three parameters have effect on the closed loop
control system. It affects rise time, settling time and overshoot and
also the steady state error.
Control Response

Rise time

Settling time

Overshoot

Steady state error

Kp

Decrease

small change

increase

decrease

Kd

small change

decrease

decrease

no change

Ki

Decrease

increase

increase

Eliminate

PID control combines advantages of proportional, derivative and


integral control actions. Let us discuss these control actions in
brief.

Compiled by Prof Bharatish A, Dept. of Mechanical Engg, RVCE

UNIT 2: CONTROLLERS

Proportional control : here actuating signal for the control action in


a control system is proportional to the error signal. The error signal
being the difference between the reference input signal and the
feedback signal obtained from input.
Derivative control : the actuating signal consists of proportional
error signal added with derivative of the error signal. Therefore,
the actuating signal for derivative control action is given by,
Integral control : for integral control action the actuating signal
consists of proportional error signal added with integral of the error
signal. Therefore, the actuating signal for integral control action is
given by

PID controller have some limitations also apart from being one of
the best controller in control action system. PID control is
applicable to many control actions but it does not perform well in
case of optimal control. Main disadvantage is the feedback path.
PID is not provided with any model of the process. Other drawbacks
are that PID is linear system and derivative part is noise sensitive.
Small amount of noise can cause great change in the output.
The output is as shown in the below figure

Compiled by Prof Bharatish A, Dept. of Mechanical Engg, RVCE

UNIT 2: CONTROLLERS

Compiled by Prof Bharatish A, Dept. of Mechanical Engg, RVCE

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