AME 455 Control Systems Design Lecture 8 Disturbance rejection

Instructional objectives: At the end of this lecture students should be able to select control strategies to minimize steady state error reduce/eliminate the influence of a disturbance reduce the response time (rise time)

AME 455 Control Systems Design Practical example: Control of liquid level in a tank

qi

Level sensor

hsp set point

In groups of 2-3 generate as many as possible answers: what applications is this problem relevant to?

h
A- area of the tank

Load valve

For each application you have found list: is the s.s. error critical? is the rise time (response time) critical? q o what are the possible disturbances for the Ro -fluid given system? resistance 3-4min

AME 455 Control Systems Design Practical example: Control of liquid level in a tank
hsp set point Within the same group designate one person as a recorder, who will write down the equations, one person as a modeler and one as a questioner. The questioner asks the modeler questions relevant to the problem which will allow to build a transfer function of the system. Example: What are the inputs/outputs of the Load valve h systems? What physical laws relate with ? qo What can we assume as model of Ro -fluid component? A- area of the resistance etc. tank 6 min d (s)
Level sensor

qi

GOAL:
hsp ( s )

G1 ( s )

G2 ( s )

h( s )

AME 455 Control Systems Design Disturbance rejection via feedback

D( s)

Qsp ( s )

H (s) a 1 + bs

a a H ( s) = Qsp ( s ) D( s) 1 + bs 1 + bs q sp d0 if Qsp ( s ) = ; D( s) = s s at steady state

Uncontrolled system

a q sp a d0 hss = lim s s = a (q sp d 0 ) s 0 1 + bs s 1 + bs s
The set point and the disturbance have the same effect on the output!

AME 455 Control Systems Design

D( s)
H sp ( s )

+ -

Kp

a 1 + bs

H (s)

Proportional feedback control Use superposition

H sp = 0 H =

a 1 + bs 1+ K p Kp

a 1 + bs

D( s) =

a D( s) bs + K p a + 1

a K pa bs + 1 D=0 H = H sp ( s ) = H sp ( s ) a bs + K p a + 1 1+ K p 1 + bs

AME 455 Control Systems Design

D( s)
H sp ( s )

+ -

Kp

a 1 + bs

H (s)

Proportional feedback control Superposition of the two inputs

H=

K pa bs + K p a + 1

H sp ( s ) +

a D( s) bs + K p a + 1

Steady state error

K pa hsp K pa d0 a a = +s hsp + d0 hss = lim s s 0 bs + K p a + 1 s K p a + 1 K pa +1 bs + K p a + 1 s

With large K the effect of the disturbance can be reduced 1 0

AME 455 Control Systems Design Disturbance rejection via integral control
D( s)

H sp ( s )

+ -

Ki

1 s +

a 1 + bs

H (s)

1 a Ka a as s H= H sp ( s ) + D( s) = 2 i H sp ( s ) + 2 D( s) 1 1 bs + K i a + s bs + K i a + s bs + K a + 1 bs + K i a + 1 s s K
hsp Kia d0 as = hsp hss = lim s 2 +s 2 s 0 bs + K i a + s s bs + K i a + s s
The INTEGRAL TERM eliminated the error completely, thus the disturbance was REJECTED.

AME 455 Control Systems Design Rate feedback + D( s) = 0 Ki

1 s +

H sp ( s )

a 1 + bs

H (s)

H=

Kia bs + K i a + s
2

H sp ( s ) =

Kia b

1 H sp ( s ) s Ka s2 + + i b b

x x
Ki2 K i1

Im

n =

1 Ka , n = , 2b b

By changing Ki, we can only move the poles along the dashed line, i.e. cannot speed up the system by moving the poles to the left.

1 2b

K i1

Re

x x

Ki2

AME 455 Control Systems Design Solution - Rate feedback!

H sp ( s )
+

D( s) = 0
s K d

+ +

a 1 + bs

H (s)

1 s

Ki

Ki a H ( s) = Kd s + H sp ( s ) H ( s ) 1 + bs s

aK d s 2 + K i a H sp ( s ) H (s) = aK 1 aK d + b 2 i s + s+ aK d + b aK d + b 1
n = aK i 1 , n = , aK d + b 2(aK d + b )

AME 455 Control Systems Design

End of this lecture

AME 455 Control Systems Design Appendix:

Simple model of a flow through an orifice

1 2 p = p1 p2 = v2 v12 2
A1v1 = A2 v2 = q

p1 , v1 , A1

A2 , p2 , v2

q= 2

A2 A2 1 A 1
2

When p = gh

q = 2 gh(t )

A2 A2 1 A 1
2

AME 455 Control Systems Design In real systems corrections are required due to viscosity and turbulence:

q = C f A0 2 gh(t ) , or 1 2 h(t ) = q (t ) 2 2 2 gC f A0 A0 area of the orifice

The flow coefficient Cf is found from experiments and is tabulated in reference books; it ranges from 0.6 to 0.9 for most orifices. Since it depends on the orifice and pipe diameters (as well as the Reynolds number), one will often find Cf tabulated versus the ratio of orifice diameter to inlet diameter, sometimes defined as ,

AME 455 Control Systems Design

For small variations about a set point q0 we can linearize : h(t ) = 1
2 2 gC 2 A f 0

q (t )

1
2 gC 2 A f 0

(q(t ) q0 );

h(t ) = R(q (t ) q0 ); R =

1
2 gC 2 A f 0

h
h(t ) = R q (t ) q0 ;

q0

AME 455 Control Systems Design

h R

qo (t ) q0 =

& = q q Ah i o &=q Ah i h + q0 R q0 s

L ( ARsH + H ) = RQi + R H (s) =

R R q0 Qi ( s ) + 1 + ARs 1 + ARs s

AME 455 Control Systems Design

Various characteristics of commercial control valves:

Linear valve

Rotary valve

http://www.maintenanceresources.com/ReferenceLibrary/ControlValves/CashcoControlPg1.htm