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The PD controller

Classification
The proportional-differential controller (PD controller) is a combination of the P-action
and D-action components. The following expression holds true for the relationship
between the error signal e(t) (input variable of the controller) and the manipulated
variable y(t) (output variable of the controller)

The Figure below shows the step response and block symbol of the PD controller.

The parameter KP is termed the proportional coefficient of the PD controller, the


parameter TV is called the rate or derivative-action time. The manipulated variable
generated by the PD controller in immediate response to the step change is theoretically
inifinitely large due to differentiation (infinitely steep edge of the step function); in actual
practice it is limited to a finite value due above all to technical boundary conditions.
Since the PD controller is without any I-action component, its control response is like a P
controller and leads to a steady-state error signal when connected to a controlled system
without compensation. Consequently it tends to be used in controlled systems which
already comprise an I-action component (controlled systems without compensation).

Experiment: PD controller in a PT 2

controlled system
In the subsequent experiment first set up a control loop with a PT2 controlled system and
a PD controller. The response of the closed control loop is to be compared to a control
loop with P action or PI action.
Set up the experiment circuit shown below. Configure the PID experiment card so that it
operates as a PD controller and set the parameters KP = 1 and TV = 0.1 s on the controller.

Activate the step response plotter and configure it as shown in the Table.

Settings Input

Channel A Meas. range: 10 V Coupling: DC

Channel B Meas. range: 10 V Coupling: DC

Other Range: 100 Offset: 0

Settings Output

Step change from ... to ... 0 50%

Delay time/ms 0

Measurements 300

Settings Diagram

Display Channels A and B


x-axis from ... to ... 0 0.5 s

y-axis from ... to ... 0 100

Now determine the step response (reference variable and controlled variable) of the closed
control loop and copy it into the space reserved below.

Step response of the closed control loop with PT2 controlled system

Describe the characteristic of the step response. How do you assess the control response in
comparison to P-action or PI-action? Enter your answers into the answer box below.

Experiment: PD controller in an IT 2

controlled system
In the following experiment the same controller is to be used in a controlled system with
IT2 response.

Set up the experiment circuit shown below. Configure the PID experiment card so that it
operates as a PD controller and set the parameters KP = 1 and TV = 0.1 s on the controller.
Adjust the potentiometer for the I-action element to far left limit.
Activate the step response plotter and configure it as shown in the following Table.

Settings Input

Channel A Meas. range: 10 V Coupling: DC

Channel B Meas. range: 10 V Coupling: DC

Other Range: 100 Offset: 0

Settings Output

Step change from ... to ... 0 50%

Delay time/ms 0

Measurements 300

Graph settings

Display Channels A and B

x-axis from ... to ... 0 0.5 s

y-axis from... to ... 0 100

Reset the I-element using the reset button. Now determine the step response of the closed
control loop and copy it into the space reserved below.

Step response of the closed control loop with IT2 controlled system

Describe the characteristic of the step response. What is true in this case for the steady-state
error signal? Enter your answers into the answer box below.

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