servosystem

Reg. no. : 2013334036-49

 servosystem
 Every computer integrated manufacturing (CIM) requires automated control
 Automated control requires a control system
 To sense systems output and to drive actuators until the output is correct
 This configuration of sensor controller and actuator is called the servocontrol.
Open-loop system, also referred to
as non-feedback system
is a type of continuous control Open-loop Drying System
system in which the output has no
influence or effect on the control
action of the input signal.
 in an open-loop control system the
output is neither measured nor “fed
back” for comparison with the input.
an open-loop system has no
knowledge of the output condition
so cannot self-correct any errors
 A Closed-loop Control System, also known closed-loop Drying System
as a feedback control system.

 is a control system which uses the concept

of an open loop system as its forward path
but has one or more feedback loops or
paths between its output and its input.

 is a control system which uses the concept

of an open loop system as its forward path
but has one or more feedback loops (hence
its name) or paths between its output and
its input.

 Closed-loop systems are designed to

automatically achieve and maintain the
desired output condition by comparing it
with the actual condition.
 Where
ϴi= input signal
ϴe =error signal
G=actuator
H=sensor and any further
signal
ef= feedback signal

Fig: Typical block diagram of servosystem.

 The servo system controls the position of one
axis of a machine bed.
 Servo system is under the control of a computer.
 Programmed to move the machine bed through
a series of positions past a rotating milling cutter.
 Setpoint is provided by the computer as digital
number
 Convert to DC voltage by a digital to analog
converter and remain same till further change
 DC set point values from 0-10 volts.
 0 volts means move the bed to the 0 inch
position.
 10 volts means the 20 inch position.
 Sensed the position and feed to the error
amplifier and subtracted from the setpoint
voltage.
 Amplifier amplified the setpoint voltage.
 Motor converts current into torque thus into
rotary motion.
THE RESPONSE OF SERVOSYSTEM
The response of the overall systems depend on three
factors:

 the type of input signal or disturbance

 the characteristics of the components of the servosystem
 the type of control system selected

These three factors must be carefully controlled so that the

system can be brought under control.
Stable Versus Unstable Response
Monotonic stability: Monotonic instability:
A system that exhibits If a short circuit causes a motor
monotonic stability causes its to run at full speed, or if a failed
output to change toward the set- sensor results in the controller
point without overshooting the permanently trying to correct a
set-point. This is also known as problem that doesn’t exist , then a
first order response. system will go unstable.

input input
position

position
output output

t t
monotonic stability monotonic instability
Stable Versus Unstable Response
Oscillating stability: Oscillating instability:
A system will exhibit oscillating The system doesn’t simply run
stability if it is “underdamped”. away in one direction. It tries to
Underdampe systems overshoot correct errors by driving too
their setpoint. Overshoot may be hard ,overshoot the setpoint , then
due to inertia or to energy being corrects even harder in the other
stored in the system. This sytem is direction. Each overshoot is
called “second order” system. greater than the one before.

input input

position
position

output
output
t t
oscillating stability oscillating instability
Disturbance:
A closed loop control system responds to error. A disturbance changes the error by changing the sensed output of a
controlled system. The disturbance come from one or many sources. Environmental conditions are often sources of
disturbance. For example, room temperature can change as outdoor temperature changes.

Unit Error Signal:

Where the error signal changes level just once is known as unit error signal changes.

Four variations of unit error signals are

 Step signal
 Ramp signal
 Impulse signal
 Sinusoidal signal
STEP SIGNAL
Step signal is the suddenly changes of setpoint or feedback from one value to another,
resulting in a new error signal level.

error

step

t
Ramp Signal: error

A ramp input signal might be provided in place of a step

signal if the step signal might cause oscillating ramp
instability.

error

impulse
Impulse Signal:

It is an undesirable disturbance signal. The source of

this of signal is large motor, or an arc welder.
t
Sinusoidal Signal

A unit input signal in which the slope of signal changes, might be used for control of
acceleration in apposition control application.

error

Sinusoidal

t
 Controller algorithm
ON/OFF CONTROL TYPE

Fig: on/ off control system Fig: Feedback loop

 PROPORTIONAL CONTROL(PE)

Fig: Feedback loop

Fig: Proportional control Block Diagram
Proportional Integral Control
A proportional integral controller also called “reset” controller, is intended to solve
the problem of steady state error. The generalize equation for PI control is
eout = KP ee + KI ∫ ee dt

Where, KI = the gain setting for the integrator and

∫ eedt = the sum of the error value to the current time
It include proportional control, son the controller still response to an error between
setpoint and actual measured output.
Working principal
Consider a driving a DC motor required torque to hold something
against the gravity.
First the error signal become non zero. Motor torque is generated
amplified by the proportional gain. The integral of the error takes
time to build up.
The integral of the error signal will have grown to a respectable
value as long as the steady state error exists.
The integral error value does not go to zero when the error become
zero. The torque may required to hold against gravity.
If torque high, causes overshoot and generate a negative error.
Integrating negative and positive integrated error value will
decrease integral value until only the required holding torque is
being generated.
Fig: Proportional integral control block diagram
Proportion Derivative Control(PD)
• Sometimes called “rate control,”
• It modifies the rate of response in order to prevent overshot.
• One from of PD control uses the derivative term to increase the rate
of response of a servo system to a changing error signal.
• This type of PD control is described by

Where =the gain on the derivative term,and

= rate of change of error
• Fig: Block diagram for a proportional derivative controller
• In this type PD control system, an increasing error signal increases the
system output.
• Sometime called predictive control because it causes the system to
work harder an error if the error is growing fast rate.
• The proportional gain can be kept lower because the derivative value
will cause acceleration as error grows.
Fig : An alternative proportional derivative control system block diagram
• An alternative form of PD control equation is

where = rate of change of the output

• The output of the system is reduced by a factor depending on the rate of
change of the output.
• This system might control the position of a machine bed.
• As the machine bed picks up speed on its way to a new position, the
derivative signal increases.
• The derivative signal reduces the system output, slowing the system down
as it reaches its goal.
Proportional+Integral+Derivative Control
A typical PID controller will have some method of adjusting
the gains on the proportional, integral and derivative
terms, so that a balance between straight proportional
response, steady state ability, and rate of response control
can be found for the system being controlled .
The Characteristics of P, I, and D controllers

A proportional controller (Kp) will have the effect of reducing the

rise time and will reduce, but never eliminate, the steady-state
error.

An integral control (Ki) will have the effect of eliminating the

steady-state error, but it may make the transient response worse.

A derivative control (Kd) will have the effect of increasing the

stability of the system, reducing the overshoot, and improving the
transient response.
Tips for Designing a PID Controller
1. Obtain an open-loop response and determine what needs to be improved
2. Add a proportional control to improve the rise time
3. Add a derivative control to improve the overshoot
4. Add an integral control to eliminate the steady-state error
5. Adjust each of Kp, Ki, and Kd until you obtain a desired overall
response.

Lastly, please keep in mind that you do not need to implement all three
controllers (proportional, derivative, and integral) into a single system, if
not necessary. For example, if a PI controller gives a good enough
response (like the above example), then you don't need to implement
derivative controller to the system. Keep the controller as simple as
possible.