ES-423 Industrial Electronics

Engr. Muhammad Bilal Shahid

Lecturer
UCET,IUB
 Introduction
 The controller provides
the intelligence of the
system
 The controller has two
input
 One is desired value of
input is called set
point(SP)
 Other input signal
indicates the actual
value of that
parameter(as
measured by sensor) is
called process
variable (PV)
 Any change in set point
or the loads on the
process should cause a
change in the
controller’s output to
assure that the PV
tracks SP
 Control Modes
 There are four modes of operation
that are commonly performed by
the controller section of a closed
loop system
 ON-OFF(Bang Bang) Controller
 Proportional Controller
 Proportional Integral() Controller
 Proportional integral Derivative
controller
 All four modes of control respond to
error signals. They differ in the
speed and accuracy with which
they eliminate the error between
the set point and the controlled
variable
 Error Amplifier
 All controllers must begin by
generating the error signal
 The error is the difference
between the set point(desired
value) and the actual value
 When the actual value is too
small, the error is positive
 A negative error indicates that
the actual value of the
controlled parameter is above
the desired value
 Continue

Resistor Rcomp is to compensate for

the effects of biased currents and
should equal the parallel combination
of all resistance to the inverting
terminal
 ON-OFF controller
 The ON-OFF controller’s output is
either fully on or fully off state
 One state is used when the
controlled variable( temperature,
fluid level, voltage) is above the
desired value and when
controlled variable is below the
set point
 A home heating thermostat is
familiar example
 When temperature fall below the
set point, the furnace goes on
 Once the temperature has risen
above the set point, the
controller(Thermostat) turns the
furnace off again
 Continue
 To be practical, an ON-OFF controller
must have a dead band or hysteresis
 When a error is large negative value,
the PV is much larger than the SP, and
the controller is off, means house being
too hot
 Only after the error has moved positive
does the controller output switch to
100%
 This condition continues as long as there
is any positive error(actual value now
below the desired value) this
corresponds to the house becoming
too hot
 Even when the error falls to zero, the
controller does not immediately turn off
 The controller’s output will go off only
after the error falls below a certain set
negative error
 With such a dead band, the error can
never be maintained at zero
 Electronic ON-OFF controller

 U1=Error Amplifier
 U2= Comparator with hysteresis
 When Verror is quite negative, U2’s output goes positive saturation
 When error voltage becomes more positive than βVsat will U2 switch its
output to negative saturation
 The zener at output restricts the output voltage to that specified as the
maximum controller output
 Often only positive controller output voltages are allowed
 When U3 tries to go to negative saturation, zener will FB, clamping the
output at -0.6V
Example
 Proportional Control
 Proportional control provides better
control because its output operates
linearly any where between fully on
and fully off
 Output changes proportionally to
the input error signal
 Greater the error, the more the
output responds
 Large negative error causes the
proportional controller to go full
off(Point a)
 Large positive error sends the output
to 100%(point d)
Example
Proportional Control
Example
Continue
 Electronic Proportional
controller

Vos=output for no error input, it is set to half of the controller’s full scale
output
Continue
Continue
Example
Example
Solution
Continue
 Steady-State Error
 The difference between the set
point and the measured value is
called steady state error or offset
error.
 Friction of the load is not the only
cause of steady state error, offset
error depends on three factors
 Load or demand on process
 Low gain or wide proportional
band of the controller
 The set point at which controller is
set
 To overcome the offset error
integral control is used
Proportional control robotic
control
 Integral Controller
 To eliminate residual system
error, controller’s response
must be changed
 The proportional controller’s
output was proportional to
the system error. The integral
controller has an output
whose rate of change is
proportional to the error
 When there is a large error,
the controller’s output
changes rapidly to correct
the error. As error gets smaller,
the controller’s output
changes more slowly
Integral Controller Input
Output relationship
Op-Amp Integrator
Integral Controller
Proportional Integral Controller

 The integral controller alone has very poor transient

response. Should the error produce a step input into
an integral controller, it will respond by beginning to
ramp its output
 A proportional controller responds to a step in error by
stepping its output proportionality
 The proportional integral controller is an effort to
combine the advantages of both good transient
response from the proportional and error elimination
from the integral
Proportional Integral Controller
Proportional Integral Controller
Series Proportional Integral
Controller
Series Proportional Integral
Controller
Derivative Controller
Op-Amp Differentiator
Practical Differentiator
Parallel Three Mode PID Controller
Parallel Three Mode PID Controller
Derivative Overrun
 A step in set point causes a complementary step in
error, the derivative part of the controller responding
to the rate of change, saturates. This saturates the
output
 The actuator has been forced wide open or hard off
 It will probably overshoot badly, perhaps even ringing
back and forth several times before good steady state
control
 The solution to this derivative produced overrun is to
allow the derivative to operate on the process
variable, not on the error
Derivative Overrun
References

 Industrial Control Electronics application and design

By J. Michael Jacob Chapter 5
 Industrial Control Electronics Devices, Systems and
applications
By Bartelt Chapter 3
Thank You