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Controllers

Types of controllers

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Mashal Khan
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4 views

Controllers

Types of controllers

Uploaded by

Mashal Khan
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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CONTROLLERS

DEFINITION:
• A controller is basically a unit present in a control system that generates control signals
to reduce the deviation of the actual value from the desired value to almost zero or
lowest possible value. It is responsible for the control action of the system so as to get
accurate output.
• The method of producing a control signal by the controller is known as control action.

Error detector
ACTUATING OUTPUT
INPUT Control Logic
SIGNALS
Plant
Element

Feedback
Continuous Discontinuous

This mode permits smooth variation of the A discontinuous mode of controller operation
controlled output over the entire range of permits a discrete output value. In this mode,
operation. The output of the control system the output does not show smooth variation
shows continuous variation in proportion to the according to the signal generated by the
entire error signal or some form of it. controller rather shows fluctuation from one
So, on the basis of the input applied, controllers value to another.
are majorly classified as: According to this mode of operation,
•Proportional controller controllers are of two types:
•Integral controller •On-Off / Two-position controllers
•Derivative controller •Multi-position controllers
Discontinuous Mode

TWO-POSITION CONTROLLERS:
• These are also known as on/off controllers. Here the output of the controller fluctuates between two specific values,
generally the maximum and minimum value.
• The maximum value is generally considered 100% while the minimum as 0%.
• It is the easiest and most common type of control action of a controller. Here the output shows variation between
maximum and minimum values according to the actuating error signal.
• Examples of systems using two-position controllers are room heater system, liquid level controlling system in water tanks,
air conditioners, etc.

Figure shows the input to output, characteristic waveform for


a two position controller that switches from its "OFF" state
to its "ON" state when the measured variable increases
above these point. Conversely, it switches from its
"ON" state to its "OFF" state when the measured
variable decreases below the set point. This device
provides an output determined by whether the error signal
is above or below the set point. The magnitude of the error
signal is above or below the set point. The magnitude of
the error signal past that point is of no concern to the
controller.
Discontinuous Mode

EXAMPLE OF TWO-POSITION CONTROLLERS:


The controlled process is the volume of water in the tank. The controlled variable is the level in the tank. It is
measured by a level detector that sends information to the controller. The output of the controller is sent
to the final control element, which is a solenoid valve, that controls the flow of water into the tank. As the
water level decreases initially, a point is reached where the measured variable drops below the set point. This
creates a positive error signal. The controller opens the final control element fully. Water is subsequently injected
into the tank, and the water level rises. As soon as theater level rises above the set point, a negative error
signal is developed. The negative error signal causes the controller to shut the final control element. This opening
and closing of the final control element results in a cycling characteristic of the measured variable.
Discontinuous Mode
Multiple position controllers:
Multiple position
Continuous Mode
PROPORTIONAL CONTROL
Error detector
INPUT ACTUATING SIGNALS OUTPUT
Kp Plant

Feedback
controlled variable proportional to Error Signals

Gain, also called sensitivity,


compares the ratio of amount
of change in the final control
element to amount of change
in the controlled variable
Proportional band, (also called
throttling range), is the change
in value of the controlled
variable that causes full
travel of the final control
element.
DERIVATIVE CONTROL
Error detector
INPUT ACTUATING SIGNALS OUTPUT
Kd Plant

Feedback

• the controller output depends on the rate with which the error signal varies.

M(t) proportional differentiation of error wrt to time


INTEGRAL CONTROL
Error detector
INPUT ACTUATING SIGNALS OUTPUT
Ki Plant

Feedback
rate of change of the output shows proportionality with the actuating error signal
PD CONTROL

Error detector

INPUT ACTUATING SIGNALS OUTPUT


Kp Plant

Kd
PI CONTROL

Error detector

INPUT ACTUATING SIGNALS OUTPUT


Kp Plant

Ki
PID CONTROL

Error detector

INPUT ACTUATING SIGNALS OUTPUT

Kp Plant
Kd
Ki
Suppose m is the output of the controller and e represents the error signal then for proportional controller it can be
written as
Here KP is the proportional gain constant and it determines the relation between controlled output and error signal.
In terms of Laplace transform the above equation can be written as:
Thus

So, we can say each error value provides a unique controller output in this case.

As we have discussed that there exists a linear relationship between controller output and the error signal. But the
output of the controller must not be 0 because 0 value of the error signal will give rise to halt state in the process.

Thus for zero error, the output will be:

mo is controlled output in case of zero error.


This type of controller permits both direct as well as reverse action. This is so because an error can be either positive or
negative depending upon the difference of reference input and the feedback signal.
When with the increase in the input to the controller its output also increases then it is known as direct control action.

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