SPEED CONTROL BLOCK DESIGN The PI controller is a generic control loop feedback controller widely used in industrial control

systems. A PI is the most commonly used feedback controller. A PI controller calculates an error value as the difference between a measured process variable and a desired set point. The controller attempts to minimize the error by adjusting the process control inputs. In the absence of knowledge of the underlying process, a PI controller is the best controller. However, for best performance, the PI parameters used in the calculation must be tuned according to the nature of the system while the design is generic; the parameters depend on the specific system. The PI controller algorithm involves three separate parameters, and is accordingly sometimes called three-term control: the proportional, integral and derivative values, denoted P and I. The proportional value determines the reaction to the current error and the integral value determines the reaction based on the sum of recent errors The weighted sum of these three actions is used to adjust the process via a control element such as the position of a control valve or the power supply of a heating element. Heuristically, these values can be interpreted in terms of time: P depends on the present error, and I on the accumulation of past errors, based on current rate of change. This block regulates the rotor speed via a PI controller as shown in Fig. It generates the current reference into current control block. Therefore, the motor torque is regulated directly by varying the current reference amplitude as: Tref = Kt iref Where, Kt is torque constant and Iref is reference current.

Fig. 4.2.1 Block diagram PI controller

4.2.1 PI CONTROL THEORY The PI control scheme is named after its three correcting terms, whose sum constitutes the Manipulated variable (MV). The proportional and integral terms are summed to calculate the output of the PI controller. Defining u(t) as the controller output, the final form of the PI algorithm is:

Where Pout: Proportional term of output Kp: Proportional gain, a tuning parameter Ki: Integral gain, a tuning parameter e: Error = SP PV t: Time or instantaneous time (the present)

4.2.1.1 PROPORTIONAL TERM

Fig. 4.2.1.1.1 Plot of PV verses. time, for three values of Kp (Ki and Kd held constant)

The proportional term makes a change to the output that is proportional to the current error value. The proportional response can be adjusted by multiplying the error by a constant Kp, called the proportional gain. The proportional term is given by

A high proportional gain results in a large change in the output for a given change in the error. If the proportional gain is too high, the system can become unstable. In contrast, a small gain results in a small output response to a large input error, and a less responsive or less sensitive controller. If the proportional gain is too low, the control action may be too small when responding to system disturbances. Tuning theory and industrial practice indicate that the proportional term should contribute the bulk of the output change.

4.2.1.2 INTEGRAL TERM

Fig. 4.2.1.2.1 Plot of PV verses time, for three values of Ki (Kp and Kd held constant)

The contribution from the integral term is proportional to both the magnitude of the error and the duration of the error. The integral in a PID controller is the sum of the instantaneous error over time and gives the accumulated offset that should have been corrected previously. The accumulated error is then multiplied by the integral gain (Ki) and added to the controller output. The integral term is given by:

The integral term accelerates the movement of the process towards set point and eliminates the residual steady-state error that occurs with a pure proportional controller. However, since the integral term responds to accumulated errors from the past, it can cause the present value to overshoot the set point value. 4.2.2 PI CONTROLLER TUNING: "Tuning" a control loop is the adjustment of its control parameters (gain/proportional band, integral gain/reset, derivative gain/rate) to the optimum values for the desired control response. The optimum behavior on a process change or set point change varies depending on the application. Some processes must not allow an overshoot of the process variable from the set point. Other processes must minimize the energy expended in reaching a new set point. Generally stability of response is required and the Process must not oscillate for any combination of process conditions and set points. Tuning of loops is made more complicated by the response time of the process; it may take minutes or hours for a set point change to produce a stable effect. Some processes have a degree of non-linearity and so parameters that work well at full-load conditions don't work when the process is starting up from no-load. This section describes some traditional manual methods for loop tuning. There are several methods for tuning a PID loop. The choice of method will depend largely on whether or not the loop can be taken "offline" for tuning, and the response speed of the system. If the system can be taken offline, the best tuning method often involves subjecting the system to a step change in input, measuring the output as a function of time, and using this response to determine the control parameters.

If the system must remain online, one tuning method is to first set the I and D values to zero. Increase the P until the output of the loop oscillates. Then increase I until oscillation stops. Finally, increase D until the loop is acceptably quick to reach its reference. A fast PID loop tuning usually overshoots slightly to reach the set point more quickly; however, some systems cannot accept overshoot.

Table 4.2.2.1 Effects of increasing parameters: Parameter Kp Ki Kd Rise Time Decrease Decrease Small Change Overshoot Increase Increase Decrease Settling Time Small Change Increase Decrease S.S. Error Decrease Eliminate Small Change

Another tuning method is formally known as the "Ziegler-Nichols method", introduced by John G. Ziegler and Nathaniel B. Nichols. As in the method above, the I and D gains are first set to zero. The "P" gain is increased until it reaches the "critical gain" Kc at which the output of the loop starts to oscillate. Kc and the oscillation period Pc are used to set the gains as shown:

Table 4.2.2.2 Ziegler-Nichols method formulation chart Control Type P PI PID KP 0.5Kc 0.45Kc 0.6Kc KI 1.2Kp / Pc 2Kp / Pc KD KpPc / 8

The Ziegler-Nichols tuning rule to the rescue Ziegler and Nichols conducted numerous experiments and proposed rules for determining values of KP, KI and KD based on the transient step response of a plant. They proposed more than one method, but we will limit ourselves to whats known as the first method of Ziegler-Nichols in this tutorial. It applies to plants with neither integrators nor dominant complex-conjugate poles, whose unit-step response resemble an S-shaped curve with no overshoot. This S-shaped curve is called the reaction curve.

Using the reaction curve method The S-shaped reaction curve can be characterized by two constants, delay time L and time constant T, which are determined by drawing a tangent line at the inflection point of the curve and finding the intersections of the tangent line with the time axis and the steady-state level line.

Fig. 4.2.2.1 Plot of reaction curve method