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E4102- DC MOTOR CONTROLLED
(KAWALAN MOTOR AT)
TOPIK 3 - KAWALAN GELUNG TUTUP
LECTURER : FADZILAH BT HASHIM
012-5469607

E4102-DC MOTOR CONTROL
FADZILAH HASHIM

FADZILAH HASHIM
3.2 Electrical Systems
An electrical circuit or network is another type of physical system. It
is comprised of resistors, capacitors and inductors, and usually
one or more energy sources such as a battery or generator.

FADZILAH HASHIM
Rangkap pindah merupakan nisbah diantara penjelmaan laplace
keluaran dengan penjelmaan laplace masukan dalam sesuatu sistem
kawala
Terbitan Rangkap pindah Pemacu Motor AT
3.4.1 Contoh Sistem Gelung Buka
Dapatkan rangkap pindah ωm(S)/Ef(S) bagi sistem kawalan motor AT dalam
rajah 3.4.1 berikut. Penjana yang dipandu pada laju malar menghasilkan
voltan motor. Motor bersifatekun (J).

FADZILAH HASHIM
Terbitan Rangkap pindah Pemacu Motor AT
rangkap pindah ωm(S)/Ef(S ?

FADZILAH HASHIM

FADZILAH HASHIM
3.4.1 Contoh Sistem Gelung
Buka

FADZILAH HASHIM
3.4.2Kawalan Medan Motor AT

FADZILAH HASHIM
3.4.2 Kawalan Medan Motor AT

FADZILAH HASHIM
3.4.2 Kawalan Medan Motor AT
Juga τL(s) = τm(s) + τd(s) [dayakilas motor adalah sama dengan dayakilas beban]
Dengan menganggapkan τd = 0 [Td adalah dayakilas gangguan dan boleh diabaikan]

FADZILAH HASHIM
3.4.3 Kawalan Angker Motor AT

FADZILAH HASHIM
3.3 PID CONTROL
What Is PID Control?
PID -stands for Proportional, Integral and Derivative. This is also called three
terms control and Gain, Reset and Rate.
The PID controller is probably- the simplest control system, but it has still
been used because of its efficiency. In 1922, N. Minorsky introduced his
three-term
controller for the steering of ships, and his controller is regarded as the first
PID controller.
He considered non-linear effects in the closed-loop control. The PID control
has been developed further in different forms -such as non-linear PID
control, time-varying gain PID control and fuzzy PID control.
The PID control has three terms: P, I and D. We will investigate how each
term has effects on the system response.

FADZILAH HASHIM
3.3.1 Control Actions
Let’s consider a PID control system shown in Figure 2, in which u(t) is
the reference input (or set-point), y(t) is the output (or process variable),
e(t) is the actuating error signal and u(t) is the control signal. We
examine how each term of the PID controller has effects on the whole
system response y(t).

FADZILAH HASHIM
3.3.2 Proportional (P) Control Action
For a controller with proportional control action, the
relationship between the output of the controller u(t) (control
signal) and the actuating error signal e(t) is
where Kp is termed the proportional gain.

FADZILAH HASHIM
3.3.2 Proportional (P) Control Action
(continued)
Whatever the actual mechanism may be and whatever the
form of the operating power, the proportional controller is
essentially an amplifier with an adjustable gain. A block
diagram of such a controller is shown in Figure 3

FADZILAH HASHIM
3.3.2 Integral (I) Control Action
In a controller with integral control action, the value of the controller output
u(t) is changed at a rate proportional to the actuating error signal e(t). That
is,
where KI is an adjustable constant (KI = KP/TI, TI is integral time).
The transfer function of the integral controller is

FADZILAH HASHIM
If the value of e(t) is doubled, then the value of u(t) varies twice as fast.
For zero actuating error, the value of u(t) remain stationary.
The integral control action is sometimes called reset control.
Figure 4 shows a block diagram of such a controller.

FADZILAH HASHIM
3.3.3 Derivative (D) Control Action
In a controller with derivative control action, the value of the controller
output u(t) is changed at a rate proportional to the rate of the change
of the actuating error signal e(t). That is,
where KD is derivative gain (KD = KPTD, TD is derivative time) or
transfer function of the controller is
Note that the derivative control action can never be used alone because
this control action is effective only during transient periods. See the
proportional derivative control action.

FADZILAH HASHIM
3.3.4 Proportional Integral (PI) Control Action
The control action of proportional integral controller known as PI
controller is defined by
or the transfer function of the controller is

FADZILAH HASHIM
Proportional Integral (PI) Control Action
(continued)where KP is the proportional gain, and TI is called the integral time. Both KP
and TI are adjustable. The integral time adjusts the integral control action,
while a change in the value of KP affects both the proportional and integral
parts of the control action. The inverse of the integral time TI is called the
reset rate. The reset rate is the number of times per minute that the
proportional part of the control action is duplicated. Reset rate is measured in
terms of repeats per minute. Figure 5(a) shows a block diagram of a
proportional-integral controller. If the actuating error signal e(t) is a unit step
function as shown in Figure 5(b), then the controller output u(t) becomes as
shown in Figure 5(c).

FADZILAH HASHIM
3.3.5 Proportional-Derivative (PD) Control Action
The control action of a proportional-derivative controller is
defined by
and the transfer function is

FADZILAH HASHIM
Proportional-Derivative (PD) Control
Action (continued)
where KP is the proportional gain and TD is a constant called the derivative
time. Both KP and TD are adjustable. The derivative control action,
sometimes called rate control, is where the magnitude of the controller
output is proportional to the rate of change of the actuating error signal.
The derivative time TD is the time interval by which the rate action advances
the effect of the proportional control action. Figure 6(a) show a block
diagram of a proportional-derivative controller.
If the actuating error signal e(t) is unit-ramp function as shown in Figure
6(b), then the controller output u(t) becomes as shown in Figure 6(c). As
may be seen from
Figure 6(c), the derivative control action can never anticipate any action that
has not yet taken place.

FADZILAH HASHIM
Proportional-Derivative (PD) Control
Action (continued)
While derivative control action has the advantage of being
anticipatory, it has the disadvantages that it amplifies signals
and may cause a saturation effect in the actuator.

FADZILAH HASHIM
3.3.6 Proportional-Integral-Derivative (PID) Control Action
The combination of proportional control action, integral control
action, and derivative control action is termed proportional,
integral and derivative control action, known as PID control.
This combined action has the advantages of each of the three
individual control actions. The equation of a controller with
this combined action is given by

FADZILAH HASHIM
Proportional-Integral-Derivative (PID) Control Action
or transfer function is
where KP is the proportional gain, TI is the integral time (seconds),
and TD is the derivative time (seconds).
It should be noted that KI = KP/TI and KD = KPTD.
In practice, TI and TD are preferred to KI and KD.

FADZILAH HASHIM
Proportional-Integral-Derivative (PID) Control Action
The block diagram of a proportional, integral and derivative
controller is shown in Figure 7(a). If e(t) is a unit-ramp function as
shown in Figure 7(b), then the controller output u(t) becomes as
shown in Figure 7(c).

THANK YOU……THANK YOU……

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