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Dis-continuous Continuous
ON-OFF Controllers
Composite Action Controllers
Two Position
controller
Single Action Controllers PI
Multi Position
controller
Floating Mode P I D PD
controller
PID
UNIT-2 Basic control Actions and Controller Related Terms and definitions
ON
O
U
T
P
U
T
OFF
2. Multi Speed:
In the multi-speed floating mode, not one but
several possible speeds (rates) are changed by
controller output. Usually, the rate increases as the
deviation exceeds certain rate.
UNIT-2 Basic control Actions and Controller Single Speed Floating Control Mode
In this mode, controller output changes at a fix rate whatever
the error exceeds the neutral zone.
P = K p e + P0 ……………..1
Where Kp is proportional gain and
P0 is initial value of controller output
P(s) = Kp . E(s)
here, initial value assumed to be zero
E(s) Kp P(s)
UNIT-2 Basic control Actions and Controller Contiguous Controller Mode
P Controller Mode
Figure. 2.0
Figure. 2.1
𝑃 = 𝐾𝐼 𝑡𝑑 𝑒 + 𝑃 0 (2)
Where P(0) is initial value of controller o/p when error is zero
𝟏
𝑃 𝑠 = . E(s) (5)
𝑻𝒊 𝒔
Contiguous Controller Mode
Integral Control Action
UNIT-2 Basic control Actions and Controller
Figure. A
UNIT-2 Basic control Actions and Controller Characteristics of Integral Control Action
Since the rate of change of controller output can be reset at
any instant of time t by changing Ti.
This mode is oftenally referred as RESET CONTROLLER
MODE. the integral time Ti is also known as RESET
TIME.
𝑨
Let R(s) = [step change]
𝑺
𝐴
𝑠. 𝑠
𝑒𝑠𝑠 [𝑒𝑟𝑟𝑜𝑟] = Lt
𝑠→0 1
1+
𝑇𝑖 𝑠 (1 + 𝑇𝑠)
𝐴
𝑒𝑠𝑠 [𝑒𝑟𝑟𝑜𝑟] = =0
1+∞
UNIT-2 Basic control Actions and Controller Characteristics of Integral Control Action
Solution:
First we find the appropriate circuit
gain, GD. The derivative gain should first be
converted to the units of seconds:
0.04%ൗ ∗ 1minΤ60sec
(% / min)
= 2.4%ൗ(% / 𝑆)