INDUSTRIETECHNIK

SRI LANKA INSTITUTE of ADVANCED TECHNOLOGICAL EDUCATION

ELECTRICAL and ELECTRONIC

ENGINEERING
Instructor Manual

Training Unit

Control Systems 1
Theory

No: EE 064

Training Unit
Control Systems 1
Theoretical Part
No.: EE 064

Edition:

2008
All Rights Reserved

Editor:

MCE Industrietechnik Linz GmbH & Co

Education and Training Systems, DM-1
Lunzerstrasse 64 P.O.Box 36, A 4031 Linz / Austria
Tel. (+ 43 / 732) 6987 3475
Fax (+ 43 / 732) 6980 4271
Website: www.mcelinz.com

CONTROL SYSTEMS 1

CONTENTS

Page

LEARNING OBJECTIVES ...................................................................................................3

1

GENERAL ....................................................................................................................4

OPEN LOOP CONTROL - CLOSED LOOP CONTROL ..............................................5

2.1
2.1.1

Control chain ....................................................................................................5

2.1.2

Types of open loop control...............................................................................6

2.2
2.2.1
3

Open loop control.................................................................................................5

Closed loop control ..............................................................................................8

Types of closed loop control ............................................................................9

TERMS AND DEFINITIONS.......................................................................................10

3.1

Controlled member of system or process (s) ....................................................10

3.2

Controlling means (R) ........................................................................................10

3.3

Control loop........................................................................................................10

3.4

Final control element or correcting unit ..............................................................11

3.5

Regulating point .................................................................................................11

3.6

Correcting variable (y) or controller output.........................................................11

3.7

Correcting range (yn) .........................................................................................12

3.8

Regulating time (ty) ............................................................................................12

3.9

Regulating speed (vy) ........................................................................................12

3.10

Command variable (w) or desired value (Set value) ..........................................12

3.11

Command range (wh) ........................................................................................13

3.12

Controlled variable (x ) .......................................................................................13

3.13

Control range (xn) ..............................................................................................13

3.14

Disturbance variable (z) .....................................................................................13

3.15

Deviation (xw ) ...................................................................................................14

3.16

Control difference (xd ) or error..........................................................................15

CONSTRUCTION OF A CLOSED LOOP OF CONTROL ..........................................16

4.1
4.1.1
4.2

Signal flow diagram...........................................................................................16

Elements of the signal flow diagram ..............................................................17
Signal circuit (general analysis) .........................................................................18

CONTROL SYSTEMS 1

LEARNING OBJECTIVES

The trainee should ...

explain

the terms "open loop control", "closed loop control", "regulating range and

"controlled variable".

state the different types of open loop control.

name the types of closed loop control.
explain the representation of signals in the signal flow diagram.
name three elements of the sign flow diagram.

CONTROL SYSTEMS 1

GENERAL

In many areas of technology it is no longer humanly possible to process all the available
information and to make correct decisions within a short time. An automatic control for
reliable operation of working processes is indispensible here. Control technology can,
therefore, be termed as the foundation of automation.

OPEN LOOP CONTROL - CLOSED LOOP CONTROL

2.1

Open loop control

This is the process of influencing a variable by one or several other variables.

In the above oven the gas flow is throttled by a valve. The temperature can be raised or
lowered (controlled) by operation of this valve.
The oven temperature can change, however, by various influences such as different gas
pressures, badly closing oven doors, fluctuating external temperatures etc.
Should these factors have to be considered, a closed loop control would be necessary to
maintain a constant temperature.

2.1.1

Control chain

The output variable of the first transfer element is the input variable of the next element. In
the block diagram of a control chain the individual elements are represented as rectangles
irrespective of their functions.

Example:

The arrow direction indicates the system operating sequence direction. In a control chain
operating sequence the input variable is
independent.

2.1.2

Types of open loop control

2.1.2.1 Command control

There is a direct connection between the command variable and the output variable of the
control system, for example; the brightness control of a light bulb via a regulating
transformer:
Command variable

adjustment of the transformer

Output variable

brightness in the area illuminated by the lamp

2.1.2.2 Holding element control

When the command variable is removed or withdrawn, the value of the output variable
obtained is preserved.
Only when an opposing signal or signal of a different kind, or when an opposing command
variable or a command variable of a different kind appears, is the output variable brought
back to the starting value.

2.1.2.3 Programme control

Time-schedule control:
The command variable is supplied by a time controlled programme transmitter
(programme register). For example; control of a process by means of a programme
transmitter with plate cams which rotate at a constant speed.

Path pattern control:

The command variable is supplied by a programme transmitter, the output variable of
which is dependent an the path covered by a moving part of the controlled arrangement.
For example; control from the cam shaft of a machine tool.

Sequence control:
The programme is stored in a programme transmitter and progresses depending upon the
condition reached at the time. The next programme step is triggered when the proceeding
one ends. This is effected mostly by sensing devices or transmitters. For example; putting
a conveyer belt system into operation, when one belt must not start until another has been
put into operation. (The last belt is switched on initially, then the next to last and so on.
This prevents a conveyor belt from depositing material onto one that is still idle.)

2.2

Closed loop control

This is a process in which the variable to be controlled (controlled variable) is continuously

measured, compared with the set value and corrected.

The oven temperature is continuously measured, the measured signal is conducted to the
control unit where it is compared with the set value and adjusts the valve correspondingly.
The difference between open loop and Closed loop control systems is essentially in the
operating sequence.

Closed loop control ... closed operating sequence

Open loop control .. open operating sequence

2.2.1

Types of closed loop control

Set value control of fixed set-point control

Follower control or variable set-point control
Time-pattern control or time-schedule schedule control

2.2.1.1 Fixed set-point

Fixed set-point control refers to all closed loop control systems in which the specified set
value must be kept constant. In other words, the command variable remains adjusted at a
fixed value (set value). Set value control is applied in industry for controlling the level,
temperature, speed, flow rate and pressure.

2.2.1.2 Follower control or variable set-point control

The set-point follows the value of the variable (command variable); Variation of the setpoint causes the controller to change its output that the controlled variable pursues the
set-point value.

Familiar applications of this type of control system:

A radar apparatus following a moving object
Automatic course control systems for aeroplanes and ships etc.

2.2.1.3 Time-pattern control

This is a follower control system in which the value of the command value is controlled in
a time dependant manner.

3
3.1

TERMS AND DEFINITIONS

Controlled member of system or process (s)

(open and closed loop. controlled members)

An open or closed loop controlled member is any part of an installation which needs to be
controlled.

3.2

Controlling means (R)

By this is meant all units which affect the control process at the controlled member of
system (sensor, controller, final control element).

3.3

Control loop

lt is a loop which consists of controlling means and the controlled member of system
(process).

Process + Controlling means = Closed loop

10

3.4

Final control element or correcting unit

This is the input element to the controlled member. The correcting unit consists of the
actuator element and the correcting element. The actuator adjusts the correcting element
in response to the Signal receives from the controller. Final control elements are, for
example; globe valves, butterfly valves, sliders, etc.

3.5

Regulating point

The regulating point is that point at which the energy flow or mass flow of a controlled
member is altered.
Since this alternation is carried out via the final control element, the regulating point is
generally located at the input of the controlled member.

3.6

Correcting variable (y) or controller output

This is the name given to the output variable of the controller. The correcting variable has
a direct effect an the final control element and produces a change in the mass or energy
flow.

Example:
A pulse appears at the controller output; let us call this pulse "more water". This pulse
called "correcting variable (y)" causes the water valve (final control element) to open by
means of the appropriate facilities and to remain open as long as this pulse is present at
the controller output. In so doing the moving part of the water valve passes through a
certain range.

11

3.7

Correcting range (yn)

The correcting range is that range in which the correcting variable is adjustable. In our
example, therefore, this refers to the range from the completely closed valve to the
completely open valve and vice versa.

3.8

Regulating time (ty)

This term refers to that time taken for the final control element to traverse the entire
correcting range.

3.9

Regulating speed (vy)

The regulating speed is the correcting element displacement divided by the regulating
time. In general, it depends on the construction of the correcting unit and it has a decisive
influence on in the quality of the control.

3.10 Command variable (w) or desired value (Set value)

The command variable is not influenced by open or closed loop control. The working
variable (open loop control) or controlled variable (closed loop control) must follow it at the
specified dependence. The set value (command variable) is therefore the value at the
output of the control loop, which is to be attained.

12

3.11 Command range (wh)

This term refers to the range in which the set value is adjustable.
For example;

Pressure

5 to 10 bar

Temperature =

200 to 500 C

Volume

100 to 500 cu. m

3.12 Controlled variable (x )

This is the variable which is to be controlled. In the field of open loop control technology it
is designated as the "working variable".
The value which actually appears at the output of a control circuit or of a closed loop is
called the "measured value of the controlled variable".

3.13 Control range (xn)

The control range is the defined range of the automatic control within which the controlled
variable can be varied.

3.14 Disturbance variable (z)

A disturbance variable is a variable which has an undesirable influence an the stability of

a control system.

13

Example:
Room temperature control disturbance variables = opening of doors and windows

3.15 Deviation (xw )

Deviation is the difference between the measured value and the set
value (command variable).

Example:
Voltage control:

Set value (w)

12 V

Measured value (x) =

10 V

xw =

xw= x - w = 10 - 12 = -2 V

14

3.16 Control difference (xd ) or error

The control difference is that value which is to be further processed in the control unit. The
control difference is not distinguished from the deviation by its size, but only by the polarity
symbol.
xd = xw

Example:
Voltage control:

Set value (w)

12 V

Instantaneous value (x)

10 V

xd

xd= w - x = 12 - 10 = 2 V

In practice this would mean that the voltage has to be re-adjusted by 2 V in the positive
direction. This is also apparent an a measuring instrument the indicator of which registers
a deviation (xw) of -2 V.

15

CONSTRUCTION OF A CLOSED LOOP OF CONTROL

The closed loop consists of

controlled member (the member to be controlled)

4.1

Signal flow diagram

controlling means (sensor, controller, final control element)

The Signal flow diagram symbolically represents the relationships between the signals in
a system or in a number of separate inter-acting systems.

The conventional representation of signals in a diagram:

- Signals flow in the direction of the arrow-headed lines (lines of influence).

16

4.1.1

Elements of the signal flow diagram

Block rectangle symbolizes the dependency of the output signals an the input signals.

Summing point
This is represented by a circle.
The circle symbolizes the fact that the output signal is the algebraic sum of the input
signals.

Branch point
This is emphasized by a dot with a diameter three times greater than the thickness of the
lines. The dot symbolizes the fact that, at this point, a line of influence branches out into
several continuing lines of influence.

Interaction of the elements

The interaction of the transfer elements is portrayed symbolically by connecting their
symbols with lines of influence.

17

4.2

Signal circuit (general analysis)

First step
In the "closed action sequence" of a closed loop the controlled variable (x) is measured
continuously by an appropriate measuring device and the signal for the measured value is
produced by a transducer.

Second step
The signal for the set value is formed in a set value adjuster to a level which accords with
the command variable (w).

Third step
The set value is compared with the measured value at a suitable point of comparison and
the control difference (xd) thus created is passed an to the controller.

Fourth step
In the controller, the control difference (xd) is treated in such a way that a correcting
variable (y) is created, which corrects the controlled variable (x).

Fifth step
A signal amplified and formed in accordance with the correcting variable (y) brings about
the adjustment of the final control element at the Input of the controlled member.

Sixth step
This signal circuit from the output of the controlled member, via the measuring transducer,
the point of comparison and the control unit, to the final control element at the input of the
controlled member remains effective until the measured value is adapted to the set value
and the desired value is present in the controlled member.
Disturbance variables (z), interferences which result in changes in the measured value
may be expected in the controlled member itself.

18

EE 064
Control Systems 1
Theoretical Test

19

EE 064
CONTROL SYSTEMS 1
TEST

1.

Name the three types of open loop control.

2.

Define the term "Closed loop control".

3.

By what symbol are signals indicated in the Signal flow diagram?

4.

Give an example for the application of a path pattern control.

5.

State what is meant by the term "Follower control".

6.

Name three types of closed loop control.

7.

Give a possible application of follower control.

8.

Define the term "Deviation".

9.

By which symbol is a branching point indicated?

10.

State what is meant by the term "Command range'.

20

EE 064
CONTROL SYSTEMS 1
TEST
(Solution)

1.

Command control, Holding element control, Programme control.

2.

Closed loop control is a process in which the variable to be controlled (controlled

variable) is continuously measured, compared with and corrected to the set value.

3.

By arrow heads, pointing in the direction of signal flow.

4.

Cam control of a machine tool.

5.

The set value follows the value of the variable (command variable).

6.

Set value control, Follower control, Time-pattern control.

7.

Radar following a moving object; automatic course control systems for airplanes
and ships etc.

8.

This is the difference between the measured value of the controlled variable and
set value of the command variable.

9.

By a dot with a diameter three times the thickness of the line.

10.

This term refers to the range within which the set value is adjustable.

21

KEY TO EVALUATION

PER CENT

MARK

88 100

75 87

62 74

50 61

0 49

22