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Controller
O/P ON
(P) 100%
OFF
0%
error
(e)
Neutral Zone
Controller
0/P
P 100%
50%
0
error
– e1 0 + e1 (e)
dp
dt KF
– KF
error
0 (e)
Neutral
Zone
Error
(e)
Floating
Action
+KF –KF
Controller Floating Floating
O/P P(0)
Action Action
1 2 3 4
Application
Controller
O/p
+ K2
+ K1
– K1
– K2
error
– e2 – e1 0 e1 e2
E(S) Kp P(S)
Controller
o/p
100 % Saturation
P 100%
0% Saturation
0%
error
P.B (e)
error
(e)
t
t = t1
Controller
o/p
P
t
t = t1
Controller
o/p dp
e
dt
kF
P
0
– kF
error
o
(e)
E(s) 1 P(s)
Ti s
error
e
A
A
Controller t
Ti
o/p P
t
t = t1
1 P(s) 1
R(s) C(s)
Tis 1 + Ts
E(S) 1 P(S)
Kp 1 +
Tis
error
(e)
A
t
t = t1
P-only
t
t = t1
I-only
t
t = t1
P + I
n
only A ctio AKp
P +I P = KpA + t
{
Ti
t
t = t1
P + I controller (Process)
{
{
1
R( ) Kp 1 + 1 C( )
T 1+T
E(S) P(S)
Kp (1 + TdS)
error At
(e)
t
t = t1
P-only
t
t = t1
D-only
t
t = t1
{
P+D
n
Action A ctio
P +D
t
t = t1
Controller Process
R( ) Kp(1 + T ) 1
1+T
E(S) 1 P(S)
Kp 1 + + T dS
TiS
E(s) 1 + T 2s 1
1 + T 1s P(s)
Ts
E(s) 1 + T 1s 1
1+ P(s)
T2s
2
E(s) (1 + Ts) P(s)
1
E(s) T 1s P(s)
T2s
T1
E(s) +
P(s)
+
T 2s
() = 1 1 2 . E(s)
1
It is + controller
= 1 = 2 /1
Put =
= + 1 + 22
let = .
= + 1 + 22
It is controller.
Applying laplace transform.
1
() = 1 22 ()
1 2
() = 1 1 2 . ()
1 1
22
= 1 = 1 =
1