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Sistemas Automáticos de Control
Sistemas Automáticos de Control
Sistemas Automáticos de Control
System to be controlled
2. Sequential control: A system operating with sequential control is one where a set
of prescribed operations is performed in sequence. The control may be implemented
as event based, where the next action cannot be performed until the previous action
is completed. An alternative mode of sequential control is termed time based, where
the series of operations are sequenced with respect to time. Event-based sequential
control is intrinsically a more reliable fail-safe mode than time based. Consider, for
example, a process in which a tank is to be filled with a liquid and the liquid
subsequently heated.
For the purpose of definition, however, any system which incorporates some form of
feed-back is termed closed-loop.
With no feedback mechanism, the system is categorized as open-loop.
Feedback control
control system
2. Ramp input: A ramp input (is used to indicate the steady-state error in a system
attempting to follow a linearly increasing input.
3. Sinusoidal input: The sinusoidal input over a varying range of input frequencies is
the standard test input used to determine the frequency response characteristics of
the system.
G(s) =
-first order lag
k -gain
Step input response
k
s +1
Second-Order Systems
The second-order differential equation has the general form:
where
- is termed the damping ratio and is defined as the ratio of the actual damping in
the system to that which would produce critical damping.
n - is the undamped natural frequency of the system
k - is the system gain.
The time-domain solution depends on the magnitude of ( and three solutions
for a step input are possible:
kn2
G (s) = 2
s + 2n s + n2
tp - peak time
ts - settling time
For uderdamped systems, the rise time is the time taken for the output to reach
100% of the step input.
The peak time is that taken to the first maximum in the output response. For critically
damped and overdamped systems, the time taken for the output to change between
I0% and 90% of the input is used alternatively as a measure of the speed of the
response.
Settling time is the time taken for the oscillatory response to decay below a
percentage of the input amplitude, , often taken as +-2%.
maximum overshoot (peak value of the output)
peak time
delay time
to =
1 + 0.6 + 0.15 2
rise time
tr =
1 + 1.1 + 1.4 2
settling time
= n *
peak time
delay time
rise time
settling time
= n *
resonance
module
resonance
frequency
bandwidth
CONTROL STRATEGIES
E(s) is the error signal, which is the difference between SP and PV.
U(s) is the control effort output from the controller to the process.
C(s) is the controller transfer function.
G(s) is the process transfer function.
The transfer function for the closed-loop system is obtained as before:
Hence:
ON / OFF Control
In many applications a simple ON/OFF strategy is perfectly adequate to control the
output variable within preset limits. The ON/OFF control action results in either full or
zero power being applied to the process under control.
ON/OFF controllers usually incorporate a dead band over which no control action is
applied, which is necessary to limit the frequency of switching between the ON and
OFF states. For example, in a temperature-control system: the ON/OFF control
strategy would be:
If temperature <Tmin
the heater is to be switched ON;
then heater is to be switched OFF.
If temperature >Tmax
The dead band in the above case is (Tmin -Tmax) and while the temperature remains
within the dead band no switching will occur. A large dead band will result in a
correspondingly large fluctuation of the process value about the set point. Reducing
the dead band will decrease the level of fluctuation but will increase the frequency of
switching. The simple ON/OFF control strategy is mostly applicable to processes and
systems which have long time constants and in consequence have relatively slow
response times (e.g., temperature and level control).
For steady-state conditions, s tends to 0 and G(s) tends to a constant value. Equation
shows therefore that the gain must theoretically tend to infinity if
PV=SP
and the steady-state error is to approach zero.
This is simply another manifestation of the classical control problem, i.e.,
stability at the expense of accuracy and vice versa. With a very high gain (i.e., low
proportional band) the steady-state error can be very much reduced. A low
proportional band, however, tends to ON/OFF control action and a violent oscillation
may result in sensitive systems.
Integral Action
The limitations of proportional control can be partly alleviated by adding a controller
action which gives an output contribution that is related to the integral of the error
value with respect to time, i.e.,
Where Ki is the controller integral gain (= K/Ti) and Ti is the controller integral
time or reset.
The nature of integral action suggests that the controller output will increase
monotonically as long as an error exists. As the error tends to zero the controller
output tends towards a steady value. The general behavior of the controller output
with integral action is shown in figure
where Kd is the controller derivative gain (=K*Td) and Td is the controller derivative
time or rate.
Equation indicates that the derivative action is dependent on how quickly or
otherwise the error is changing. Derivative action tends therefore only to come into
operation during the early transient part of a system's response.
The full three-term control strategy may be written as
To summarize, the proportional action governs the speed of the response, the
integral action improves the accuracy of the final steady state, and the derivative
action improves the stability. Note that derivative action may result in poor
performance of the system if the error signal is particularly noisy. In Laplace notation,
the three-term controller transfer function is as shown in figure
Any system which has a response similar to that given in the figure has a transfer
function which approximates to a first-order system with a time delay, i.e.
In fast-acting servomechanisms, where T1 may be very small, the method is none too
successful. For moderate response systems, however, the method will yield very
reasonable first-approximation controller settings.
Closed-Loop Continuous Cycling Method
The process to be controlled is connected to the PID controller and the integral and
derivative terms are eliminated by setting Td= 0 and Ti=. In some industrial
controllers the integral term is eliminated with Ti=0. A step change is introduced and
the system run with a small controller gain value, K. The gain is gradually increased
for a step input until constant-amplitude oscillations are obtained as illustrated in
figure.
The PID settings obtained according to the methods of Ziegler and Nichols are
approximate only, and some fine tuning would almost certainly be required in
practice.
The process is modeled as a first-order system and its open-loop transfer function
is given by equation
Comparing the denominator with that for the generalized second order system
For the system being controlled, both k and are known either via a
mathematical model or an open-loop test. The controller settings, K and Ti can then
be calculated for a chosen damping ratio and natural frequency n. Alternatively a
controller gain can be imposed and the corresponding natural frequency evaluated.
For full PID control, an initial value of Td=Ti/ 4 can be used. Other systems can
be similarly handled to obtain the approximate PID controller settings. In all cases
some fine adjustment would probably be necessary to obtain the optimum output
response.
Case
T0=3s, T=15s find PID
T=0.3s k=16
STABILITY
The practicing control engineer will use many techniques to assess system stability.
These might include the numerical Routh-Hurwitz criterion, which determines only
whether a system is stable or not. Alternative graphical methods include the use of
Hall charts, Nichols charts, inverse Nyquist plots, and root locus plots. The graphical
methods additionally indicate the relative stability of a system.
an
dny
d n 1 y
dy
d mu
d m 1u
du
+
a
+
.....
+
a
+
a
y
=
b
+
b
+ ..... + b1
+ b0u
n 1
1
0
m
m 1
n
n 1
m
m 1
dt
dt
dt
dt
dt
dt
After Laplace
Y ( s ) bm s m + bm1 s m1 + ... + b1 s + b0 M ( s )
G( s) =
=
=
U ( s ) a n s n + a n1 s n 1 + ... + a1 s + a0
N ( s)
characteristic equation
an s n + an 1s n 1 + ..... + a1s + a0 = 0
Solutions
Rootlocus method
Example
Time delays are very difficult to handle mathematically when they occur in differential
equations, and the inclusion of multiple feedback loops can greatly increase the order
of the governing equation. For these two reasons solutions in the time domain
become extremely difficult, and frequency domain methods are almost exclusively
used to assess the behaviour of the more complex control systems. The main
consideration in frequency-domain analyses is the stability of the system and how it
can be adjusted if it happens to be unstable. Various graphical methods are used
and these include the Bode and Nyquist plots.
The Bode plot is a graph of amplitude ratio and phase angle variation with input
signal frequency. The resulting normalized plot for an open-loop first-order system is
shown in Figure. Note that when the input frequency is equal to the inverse of the
system time constant, the output amplitude has been decreased (or attenuated) by
3dB. The phase lag at this point is -45o. This is characteristic of first-order systems.
The Nyquist plot represents the same information in an alternative form. The plot is in
polar coordinates and combines the amplitude ratio and phase lag in a single
diagram. Figure shows the Nyquist plot for the open loop, first-order system.
The Nyquist criterion for stability is that the system is stable if the amplitude ratio is
greater than -1 at a phase angle of -180o. In effect, this means that the locus of the
plot of amplitude ratio and phase angle must not enclose the point - 1 on the real
axis. A stable response curve is shown plotted in Figure. Also indicated in this figure
are the gain margin and phase margin in the context of the Nyquist plot.
Disturbance Sensitivity
The main problem with the classical single-loop control system is that it is not truly
representative of the natural environment in which the system operates. In an ideal
single-loop control system the controlled output is a function only of the input.
In most practical systems, however, the control loop is but a part of a larger system
and is therefore subject to the constraints and vagaries of that system. This larger
system, which includes the local ambient, can be a major source of disturbing
influences on the controlled variable. The disturbance may be regarded as an
additional input signal to the control system. Any technique, therefore, which is
designed to counter the effect of the disturbance must be based on a knowledge of
the time-dependent nature of the disturbance and also its point of entry into the
control system. Two methods commonly used to reduce the effect of external
disturbances are feedforward and cascade control.
Hydraulic Servo-actuator