Untitled
Untitled
Untitled
Margin
Gain
open loop transfer function.
d s
Ke
GH
(1 1s)(1 2 s)
1 0
𝐺𝑎𝑖𝑛 𝑀𝑎𝑟𝑔𝑖𝑛 =
𝐴𝑅 𝜔𝑐𝑜
Margin
-90
Phase
𝑃ℎ𝑎𝑠𝑒 𝑀𝑎𝑟𝑔𝑖𝑛 = − 180 − 𝜑
𝐴𝑅=1 Phase Margin
-180
In Radians
Large d Small d
𝜋
𝑃ℎ𝑎𝑠𝑒 𝑀𝑎𝑟𝑔𝑖𝑛 = − 180 − 𝜑
𝐴𝑅=1 180
𝜑 = −𝑡𝑎𝑛−1 𝜏1 𝜔 − 𝑡𝑎𝑛−1 𝜏2 𝜔 −𝜔 𝜏𝑑
𝐴𝑅=1 𝐴𝑅=1 𝐴𝑅=1 𝐴𝑅=1
Sheet 1, Problem 3
10e ds
3. Consider a first order process with dead time G p (s )
s1
which is controlled by a proportional controller with gain Kp.
Assume that the transfer functions of the measuring device and
control valve are respectively GH = GV = 1.
1. Show that as d increases, the ultimate gain of the
proportional controller decreases.
2. Assuming that d = 0.5 min, compute the gain of the
proportional controller so that the gain margin is 1.7 or the
phase margin is 30 which ever is safer.
3. Compute the steady state offset when the system is
subjected to a unit step change in the set point.
4. Design a dead time compensator for the system.
1. Show that as d increases, the ultimate gain of the proportional
controller decreases.
+
R C
-
Eq. (2)
Which is
always -ve,
thus
2. Assuming that d = 0.5 min, compute the gain of the proportional controller so that
the gain margin is 1.7 or the phase margin is 30 which ever is safer.
Eq. (1)
thus
Therefore For a gain margin of 1.7.
At an AR = 1
Therefore the value of Kp= 0.22 is safer for the system to be stable
3. Compute the steady state offset when the system is subjected to a unit step change in
the set point. 10 𝑒 −0.5𝑠
+
R 𝐾𝑝 C
The closed loop transfer function: - 1+𝑠
10 𝑒 −0.5𝑠
𝐶 0.22 2.2 𝑒 −0.5𝑠
= 1+𝑠 =
𝑅 1 + 𝑠 + 2.2 𝑒 −0.5𝑠 1 + 𝑠 + 2.2𝑒 −0.5𝑠
1+𝑠
lim 𝑐(𝑡)
𝑡→∞ The offset is 1-0.6875=0.3125
1 2.2 𝑒 −0.5𝑠
= lim 𝑠𝐶 𝑠 = 𝑠 = 0.6875
𝑠→0 𝑠 1 + 𝑠 + 2.2𝑒 −0.5𝑠
Smith Dead Time Compensator
The shown loop is characterized by dead times in both the process
and measuring element transfer functions.
E P X
R + Gc Gv Gp e-1s C
-
B
GH e-2s
Where Gs = Gv Gp GH and d = 1 + 2
E’ C’ 1
R + Gc Gs e-ds C
- G H e 2s
C’
Where Gs = Gv Gp GH and d = 1 + 2
The open loop transfer function of the feed back loop is Gc Gs e-ds.
If (d) is large, the control loop is prone to instability (low cross
over frequency, co).
+ Gc Y e 1s
R Gs Z
-
1 G c G s (1 e ds ) GH
e d s
The feedback loop control
ratio is given by: G cG s
d s
Y 1 G c G s (1 e ) G cG s
d s
R G cG se 1 G cG s
1 d s
1 G c G s (1 e )
Dead time is thus removed from the open loop transfer function
enabling easy tuning of the controller Gc. The system may be
represented by:
Y e-1s
R + Gc Gs Z
GH
𝐾𝑝 𝐾𝑝 (1 + 𝑠)
𝐺𝑐′ = =
10 𝐾𝑝 (1 − 𝑒 −0.5𝑠 ) 1 + 𝑠 + 10 𝐾𝑝 (1 − 𝑒 −0.5𝑠 )
1+ 1+𝑠
10𝐾𝑝 𝑒 −0.5𝑠
𝐶 1 + 𝑠 + 10 𝐾𝑝 (1 − 𝑒 −0.5𝑠 ) 10𝐾𝑝 𝑒 −0.5𝑠
= =
𝑅 1 + 𝑠 + 10 𝐾𝑝 (1 − 𝑒 −0.5𝑠 ) + 10𝐾𝑝 𝑒 −0.5𝑠 1 + 𝑠 + 10𝐾𝑝
1 + 𝑠 + 10 𝐾𝑝 (1 − 𝑒 −0.5𝑠 )
Sheet 3, Problem 1
+
X 𝐺1 𝑒 −𝜏1𝑠 + 𝐺2 𝑒 −𝜏2𝑠 C
+
+ +
R C
-
+
+ + +
R C
- -
U
+ Y
+ + +
R C
- -
Considering U=0
Since the open loop transfer function does not contain dead
time, the controller can be tuned on the basis of dead time
elimination.