Shwete hasale

PPN= 2235200)
Applied Digl ta< (ontoller
Walchand College of Engineering, Sangli.
Asagoment NO-2
91. kplain the feed forward (onto lWer in brief.

feed fo rward (on oller

) feedforuord (ontral sysiem 1sis also knocun as per ect (ond
Sskem
t akes orrect acton before the process feels distorband
8) 0 this (ontrl system effect of distobance neasurecl
accu rately and proper (ontrol acton take place to a vor de
ffect on the System
4) Jt does not affect the stability of the System.

Elbck diagam:
G1f

feed forioard
(antoller
final (on hal proess
etement

Gm

megsuinq device

Trans fes fanctioo of feedfrruard cmoller

from the above block diaqlarg
(ysp - Gm) f Gf Gp + dGd yout

Page No.
 Walchand College of Engineering, Sangli.
Case) for Servo pnblem ) Chanqe in set point
2) Chonqeio load is 2ero : J o put in eqn =(0
Yout
AL sady stale Input =0uBput
ie qou: ysp
from euhien ’

Ose for Pe qula tog problem.

) Chanqe in load or. disturbances
2) change ín fhe set pont

youy
but ou aim ar objctive is input =6a
pat(oat =Ysp)
At slale out - ysp= o
So. d (Gtd- off GpGmoe)=0
ds ue KA0w for fequlaoe pblem d can not equol 2ego

G
Gphpom
Page No.
 Walchand College of Engineering, Sangli.
’ Advanjac es of ed back Contoller

) rdfoword contol takes C6rrec)ve

Co gction befre
the disturbances en teing into the procesS

) eel fonward Contol dos not a ffect the st aki lity of

the syslem
3) t works well for multi- Capacite syslem
if icant dead time.
Signif
Disacvantaqes of feed foruar d Conoller

) he concept of fed foward Contnller de man d the

identificetion an ditect measument of al possible
distanbance This is not possible for many proce sS

) The effec tiue of feecl fnyel ontro depends

pod desiq nof prxess model e fect poces s mode)
prachcally possible tor nory sslern

3) The eed foucrd Contolley req je s gosphisHcaed

io shument and Con tro lI eguipment maring 1t
ek pens Ve.

Page No
RBF Walhand College of Engineering, Sangli.
find the 20+| equivalent one Deqree of freedom and
Two deqre es of freecdo m eedbock Con hroller wrth
SSOry eq uations and ondHHns.

1 DOF ( Deqee of Fre edorm)

ec)
A

e (2) -yc2) =(2) rockinc

() V(2) = ’ Distuibance
ejction
put v2) = 0 'solve y(2)

solve yC2)

Gp Gc 1(2) +
I+ Gce)6pl?)
4

Yc T(2) n(2) + Sc2) uc2)

Oo meet this tequi he men F
0 Trocking y(2) (2)
PeqwWcHon (disturbd0ce dejec io n)
Page tlo
a Walchand College of Engineering, Sangli.
ondition
TtS =) (3 DoF)
one cont ad a ime and other vars and vic e verSa.

Tts =1 (4DOF)

(2DOF )
(2 DoP)
(3 DoF)

Y(2) -Yc2)
feedfoQUad
(on holler
(packng)
frtConboll,

Conoller
DishnbancQ ejettn
(2DoP)

Gfedfonsocd : Tc2)
R(2)

feed baclc (2) =Sc(?)

Ue 2) (2) Gr(2) -4(2) Gfeecl (2)

- U(2) Tc(2)- 2) Sc(2)
Rc(2) Rc(2)
Page No.
 DASA
Walchand College of Engineering, Sangli.
R c2) l¢(2) = (2) T¢2) -y(2) Sce)
V(2)
T(2) Telz) 4

Y(2)
42)
SC2)
Rc(2)

plant mode|
y(2) = Ut (2). 8(2) +u(2)
A(2)

y(2) A(2) = de (2)·2 B(2) 4 uC2) not mathernat ay

(onto | low

TY2) Tl2) - yc2) &c2)]

Rc(2)

yc2)A2)
Re (2)
fa2) Te) -ye). scy |7A(2) 402)

Ye) A(2) 2 B(2) yc2) Sec2) 2 B) (2) Tc(2) + u(2)

Rc (2) ReC2)

Yc2)A(2) Rc(2) 42 B2)scl2)

Rc(2)

Page No
 Walchand College of Engineering, Sangli.
B2]

murm
4 lead- la lontroller Fo achive the marj
03) Design
phase.
Compensator-’1-6.g2 |ead (ompensaBor

B(2) = | Org2
A(2) = |-o82-|

G1(2) = L B[2] - ZA[2] Gc(2] = B(2)

A(2)

A(2) =| -q7
B(2) = | -b

b> a - lead (om pen sator (Isbo)o)

laq (ompen Sa to

|-o21
-0197

--t6
163 lo

30 |-o32

Page No.
Net phase intnduc1nq
 Walchand College of Engineering, Sangli.
|- 0r92-! l-b

(0 b <a loq Compensa tor

performance of plont

affscet
Design of (ompensator ?
G(r): |-0:9z) - B(21)
|- O132 A(2') Kdyramicl-stady stae
deivaiv e(onbole In leqating
lead (om pensabr (on bolle
lag-Competsoty
oximur Frequecy
2 GcC2) = 21-bi) -2(-az')
ALCI-b!)- 82(|-qi')

E aler's theoten BLes - |- be Jw

LBtan bsinw Alej -t- (0tjos1n

I-bcosw

|-a(6sw

Page No.
a Walchand College of Engineering, Sangli.
Ne angle lntodace - Gc (e lu) - LB - LA

fas'
- bsiny a 0SInw
l-a(w

o ct uhich we
ot max.
frquenc max. Po

deB - deA

I-b2 deA |-al

dw |-2 b(0S(w t62 dw | -2a (0S w th2

LB-LA = -62 I-g2

|-2b(0swn tb2 |-2a (0sUn +a2

|-Da Coswn tq'-b-2boson -q?b'-142 b(o on-b

’ maxiMum
ab +| frqueng
obtun Sinwn t(atb|?,
abt
sin'un I-(a51
Qb+|
(qb+) -(a tb)2

+200 4 | -2a5 t12)

abt| ( abt)2
2

(abt) 2
 Walchand College of Engineering,Sangli.
[Link]-)( ) a(0181)'
1- b/ 04b) afatb

tan b tas' a Ji

ton (Gc (lw) - b I-q2 |-42

|-62

b-g

V(-a)c-82)

G1e (e- a6! b-d ) moximoro phas e foboduce

Va)(+8 )

) ha ae the acluantaae ofUsinc lead-la Conbolley

qnd how t diff fo m pID (on ot le.

I) CUppo siny h ad we qeneially happly wIth the

ynamic iespense of the sylem but thet
to infase the Con olle An so os h educo the
Steods slate offset we clude the tag (on holles

Page No
 Walchand College of Engineering, Sangli.
làq:
B
By 'o Cosbinaion;or olead.Ïnd: d tag
pes fornancQ an
equements mproving ynan
ducinc the steocdy staBelqn
J
action is Simila o the deucHVO
Theleacd
aCHon ond the lac mod is Similas to the in tegr
popa com hrolle o f the in dwt
mode in the

’ The p pooona in teqral denutiue or moo

the PED i s probablly the mos po pua
po poloriy
hodcey.
It is Popwa becouse oFthe larqe installecl
base
ond sm plicity in to Usei ) j} bas three para meke
one koespoindnc to eac h oF the P i
to be umel
D. mode
ing

Page No.
 Walchand College of Engineering, Sangli.
5) Exam\ne the effect of osinq dsivative Con bo ler
Gd(2) = Td 2-) , on the oscilabing plaut
G2) 2
244

valate the effect "of an

inleqgahin (ontroller
Gi(2) : 1+|

’ 0 d(2) = 1d 2-1

on thÇ 0scillaling_ plant Ge) : 2

AS the pole i on the
the negaBiue eal aris ,i hcs nax.
numbeY of Osci lahion
the oVerall transfer funclion T 1S

Te) Gi(2) Gd(e) Td(2-1)

1+G(2) Gde) (14 Td)2 + (a-Td )

uhich is less oscillato s than the plant

G(2). 0e nept
See the etfect of Us ing o propor ticnad
de ijvaHiue
sieod y state offset to a Skep Inpu.

Page No.
 Walchand College of Engineering, Sangli.
ZAS

heclosed loo p rans fer fonctËo n T(2) 15gjuen

T(2) kCIH Td

1f the in pu- o this is a ste p funchion, Thesteocly stale

adu e ycn) is given by the fFinluWue theorem.
- lim T(2) = k
lim yco) lim
yo) 2
in the (us e
he strody stq te vcdue is the Same os that
of Popotion d on oller.

Eva Iua te the effeet of an 1nlepating Con troler

Gi(2) 241

uhen Us ecl with nonostladinq plant gven by

G(2) -

where a>o The closed loop tanste funcion,be Um e

1(2) 2(2+i)
2 Dz42 +a
2-g 2-1

Page No.
 College of Engineering, Sangli.
Walchand for al| a the
poles are a (at Va2-ga
The 4

Closed loop em js ogillab

of the fo|lowi ng bom /s 0Jd,
(when o PI (ontoller
+ l2+)
T2-!

the overall trans f

nction become,

T(2) =

k/I+2+ ) 2
2-a

Sodystaeotput
oudpu as a Siep ioput is qiuen
|im ycn) uhich is equal to the

lim T(2) =|

4he ec poc el f /s diffPen tiahion,

Beca e

2 2-|
Gi(2) 2+|

tuhich oSults iS widly 0scillatin9

a+eq nder Hhe (une, with back war
diffeenc e femwa :
YCK) Cr-1) 4 Tsu(t)
Page No
 Walchand College of Engineering, Sangli.
Taking 2-T
Y(2) = Ts 2_02)
1-1
TFo oti qratn [Link] as,

Gi (2)= Ts
2-|

2-)
2

owo rd diffenc e opproximaion fes integphn,

ioteqrat gnd diff eeoHa

T-F of in
S1iC2) = T
2-|

Ç6. Eplain the step involved jn Golving AyashatHa's

A
jden thy D(2) = | -G24422

fo
f(2) =

let V- 1 assu me.

Page No
 Walchand College of Engineering, Sangli.
f= Fo F F2]

Rank: 2
.. lineay Independent
Check for V=|
V: 2

V= 3
V4 The max FiS Co minq lneav
depend then tak e V=3

fo Fi Fa
V=3
Fo Fa
fo Fa

Page No
 Walchand College of Engineering, Sangli.
V -S
V=2

-5 4
|
(

V=3 4

-S

- S

Ry for V= 3 max. lin eai depen l

chouse V:2

c heck bf= and V=cr

- S

V = -|

V=I 32 S o.7 -3]

3.2S [o. 7s - 3

YC2] 3.2 S . 3 2
Page No