REPORTER: JOHN ALVIN B.

SERENIO
 Introduction:
 In this topic I shall first discuss the basic control
actions used in industrial control systems.
 Then discuss later with my group mates the effects of
integral and derivative control actions on the system
response.
 An automatic controller compares the actual value of
the plant output with the reference input, determines
the deviation, and produces a control signal that will
reduce the deviation to zero or to a small value.
 Control Action- the manner in which the automatic
controller produces the control signal.
 Basic Control Actions
Classifications of Industrial Controllers
1) Two- position or on- off controllers
2) Proportional controllers
3) Integral controllers
4) Proportional- plus- integral controllers
5) Proportional- plus- derivative controllers
6) Proportional- plus- integral- plus-
derivative controllers
 Basic Control Actions
 Most industrial controllers use electricity or
pressurized fluid such as oil or air as power
sources.
 Controllers may also be classified according to the
kind of power employed in the operation such as
1) Pneumatic controllers
2) Hydraulic controllers
3) Electronic controllers
 Basic Control Actions
 What kind of controller to use must be decided based
on the nature of the plant and the operating
conditions, including such consideration as
1) Safety
2) Cost
3) Availability
4) Reliability
5) Accuracy
6) Weight
7) Size
Block diagram of an Industrial
Control System
Automatic Controller, Actuator, and Sensor
 Fig. 1 is a block diagram of an industrial control system
consisting of an automatic controller, an actuator, a
plant, and a sensor.
 Controller- detects the actuating error signal, which
is usually at a very low power level, and amplifies it to a
sufficiently high level.
 The output of an automatic controller is fed to an
actuator, such as pneumatic motor or valve, a hydraulic
motor, or an electric motor.
 Actuator- a power device that produces the input to
the plant according to the control signal so that the
output signal will approach the reference input signal
Automatic Controller, Actuator, and Sensor
 Sensor- a device that converts the output
variable into another suitable variable, such
as displacement, pressure, or voltage, that
can be used to compare the output to the
reference input signal.
 The set point of the controller must be
converted to a reference input with the same
units as the feedback signal from the sensor.
Self- operated Controllers
 In most industrial automatic controllers, separate
units used for the measuring element and for the
actuator.
 In a very simple one, such as a self- operated
controller, these elements are assembled in one
unit.
 Self- operated controllers utilize power developed
by the measuring element and are very simple and
inexpensive.
Self- operated Controller
Self- operated Controllers
 The set point is determined by the adjustment of
the spring force.
 The controlled pressure is measured by the
diaphragm.
 The actuating error signal is the net force acting on
the diaphragm.
 Its position determines the valve opening.
Operation of Self- operated Controllers
 Suppose that the output pressure is lower than the
reference pressure, as determined by the set point.
 Then the downward spring force is greater than the upward
pressure force, resulting in a downward movement of the
diaphragm.
 This increases the flow rate and raises the output pressure.
 When the upward pressure force equals the downward
spring force, the valve plug stays stationary and the flow
rate is constant.
 Conversely, if the output pressure is higher than the
reference pressure, the valve opening becomes small and
reduces the flow rate through the valve opening.
 Widely used for water and gas pressure control.
Two- position or On- Off Control Action
 In a two- position control system, the actuating
element has only two fixed positions, simply on
and off.
 Two- position or on- off control is relatively simple
and inexpensive and, for this reason, is very widely
used in both industrial and domestic control
systems.
 Let the output signal from the controller be u(t)
and the actuating error signal be e(t).
Two- position or On- Off Control Action
 In two- position control, the signal u(t) remains at
either a maximum or minimum value, depending on
whether the actuating error signal is positive or
negative, so that
 u(t) = U1, for e(t)> 0
 u(t) = U2, for e(t)< 0
 where U1 and U2 are constants. The minimum value
U2 is usually either zero or –U1.
 Two- position controllers are generally electrical
devices, and an electric solenoid- operated valve is
widely used in such controllers.
Block Diagram of an On- Off Controller
Two- position or On- Off Control Action
 Fig. 3 (a) and (b) show the block diagrams for two-
position controllers.
 Differential gap- the range through which the
actuating error signal must move before the switching
occurs.
 It is indicated in Fig. 3(b)
 It causes the controller output u(t) to maintain its
present value until the actuating error signal has
moved slightly beyond the zero value.
 In some cases, the differential gap is a result of
unintentional friction and lost motion; however, quite
often it is intentionally provided in order to prevent
too frequent operation of the on- off mechanism.
Two- position or On- Off Control Action
 Two- position or On- Off
Control Action
 Consider the liquid- level control system
shown in Fig. 4(a), where the
electromagnetic valve shown in Fig. 4(b) is
used for controlling the inflow rate.
 This valve is either open or closed.
 With this two- position control, the water
inflow rate is either a positive constant or
zero.
Level h(t) versus t curve for the
system shown in Fig. 4(a)
Two- position or On- Off Control Action
 As shown in Fig. 5, the output signal continuously
moves between the two limits required to cause
the actuating element to move from one fixed
position to the other.
 Notice that the output curve follows one of two
exponential curves, one corresponding to the
filling curve and the other to the emptying curve.
 Such output oscillation between two limits is a
typical response characteristics of a system under
two- position control.
Two- position or On- Off Control Action
 From fig. 5, the amplitude of the output oscillation
can be reduced by decreasing the differential gap.
 The decrease in the differential gap, however,
increases the number of on- off switching per
minute and reduces the useful life of the
component.
 The magnitude of the differential gap must be
determined from such considerations as the
accuracy required and the life of the component.
 Effects of the Sensor on System
Performance
 Since the dynamic and static characteristics of the
sensor or measuring element affect the indication of
the actual value of the output variable, the sensor plays
an important role in determining the overall
performance of the control system.
 The sensor usually determines the transfer function in
the feedback path.
 If the time constants of a sensor are negligibly small
compared with other time constants of the control
system, the transfer function of the sensor simply
becomes a constant.
Block Diagrams of Automatic
Controllers
Effects of the Sensor on System
Performance
 Fig. 6 (a), (b), and (c) show block diagrams
of automatic controllers having a first- order
sensor, an overdamped second- order
sensor, and an underdamped second- order
sensor, respectively.
THANK YOU FOR
LISTENING AND
GOD BLESS… 