'Controllers

Itlechanical Measurernents & Control

7-7

Control Actions

&

Controllers

higher value of controller gain ( Kp

), which corresponds to niurower bandwidth,
shown in Fig, (7.6).

as

High saturation point

100

KPr,

''..r..Gain
Controller

output

Proportional
controller output

50

in Ko2 < Kppr

P (%)

Law saturation

point

on-off
TS

widely
where a

Nanow
band
Wide
band

Thus,

ep

error (,t"i

Fig. 7.6 : proporflonal Control Action

.. (7.3)
(Vo)

k)

Fig' 0 '7) shows how offset error occurs in a proportional control

action. Let
the system efior be z,ro at nominar load with
p
output
= 50 vo
co-rresponding to point A. If however, a ftansient
"ooiroil"i
eror
occurs, the system tends to
adjust the controller output so that the point e
lconsponJing to zero error) is
reached again. But for this to happen there
musr be some change in the load on the
system. This changed controiler road produces a
new value (pnew) of the conroler
ouFuL which gives
to the pbint B on the linear characteristics
T_e
of the
proportional controller. The pennanent small
difference between the percentage e,,or
values corresponding to points B and A is called
the off-set error of the proportional
controller, as shown in Fig. 7.7
,

ional
P (%l

chan-ee in

100

Offset error

..... (1.4)

ng

the

Controller

El

' old
output 50 ;""
P'(%)

tnew

rueeds a

which

(*)

the

Errpr (.2"i

Flg.7.T Offset error in propofilonal controller

pennanent
in load
selecting

i.e. offset etror

= ,o I o = eple %