Chapter 3

Comparing
closed loop
&
open loop
Control systems
Voltage control of a d.c.
generator
Components :
dc generator
feed back POT
reference voltage source
 Ra
Rf , Lf ia
Source

if G
vt Load
eg
Ref
vr : reference voltage
input
vb : feed back voltage
KA : dc amplifier gain
V/V
Rf : dc generator field
resistance
Lf : dc generator field
inductance
Kg : dc generator gain V / A

Ra : dc generator armature
resistance.
feed back resistance high
enough to avoid loading
 Ra
Rf , Lf ia
Source

if G
vt Load
eg
Ref
Equations :
Vf = field voltage
= (Vr - Vb ) KA
Vb = K Vt , where
Vt is the terminal
voltage of the generator
If = Vf / ( Rf + sLf )
Eg = Kg If
Vt = Eg - Ia Ra
Vb = K V t
Case 1

No load : Ia = 0
Vt = E g
Vr + Vf 1 If Eg=Vt
KA Kg
Rf + sLf
-
Vb

K
Case 1 (a) open loop

KA K g
Vt (s) / Vr (s) = ----------
Rf + sLf
case 1 (b) closed loop
Vt (s) / Vr (S) =
KA K g
--------------------------
Rf + sLf + K KA Kg
Substitute numerical values
KA = 20 V / V
Kg = 50 V / A
Rf = 100 ohms
Lf = 200 Henries
 Open loop
1000 / ( 100 + 200 s )
= 10 / ( 1 + 2 s )

Closed loop
1000 / ( 200 + 200 s )
= 5/(1+s)
Final value Therom
(t)
f(t)  F (s)
(t)
f(t)  t   = Limit sF(s)
s0
With a sudden change in

vr from 0 to 25 V,
vr (t) = 25 u-1 (t)
Vr(s) = 25 / s
open loop
Vt (s) = (vr (s) )(10 / ( 1+2 s ))
= (25 / s ) ( 10 / (1 + 2 s))
Vt() = 250 V

closed loop
vt(s) = ( 25 / s)( 5 / ( 1+s ))
Vt() = 125 V
Open loop Closed loop

Gain = 10 Gain = 5
Open loop Closed loop

Gain = G Gain =
G / (1 + GH)
To make the output same
as 250 V in both cases,

for open loop vr = 25 V

for closed loop vr = 50 V
Open loop

Vr (s) = 25 / s
Vt (s) = (25 / s)(10 /( 1+2s))
= 250 ((1 / s) - 1 /( s+0.5))
 vt (t) = 250 ( 1- e - 0. 5 t
)
Closed loop

Vr (s) = 50 / s
Vt (s) = (50 / s )(5 /( 1 + s))
= 250( (1 / s )- 1 /( s + 1))
vt (t) = 250 ( 1 - e )
-t
open loop :
vt = 250 ( 1 - e - 0.5 t
)

= 250 ( 1 - e - t /2
)
closed loop :
vt = 250 ( 1 - e )
-t

= 250 ( 1 - e -t / 1
)
250

200

150

100

x1
50 x2

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

 - t /
In general K ( 1- e )

K : steady state value of the

function
 : time constant
 smaller, faster response.
Generator with Load
Ia - Second input

Vt (s)
open loop -------- = -Ra
Ia (s)
= -1
 Closed loop Ia

Ra
Vr + Vf 1 If - Vt
+
KA Rf + sLf Kg
Eg
-
Vb

K
Vt (s)/ Ia (s) =
1
- Ra . ---------------------------------
1+ K KA Kg / (Rf + sLf)

- Ra (Rf + sLf )
= -------------------------
Rf + sLf + K KA Kg
 - (100 + 200 s)
= -----------------
( 200 + 200 s )

( 1+ 2 s )
= - -----------
(2+2s)
Let a sudden load of
30 A be switched on
30
then Ia (s) = -----
s
Open loop
10
Vt (s)/ Vr (s) = ------------- = G1

1 + 2s

Vt (s) / Ia (s) = -1 = G2
Open loop
Vt (s) = G1Vr (s) + G2 Ia (s)

10 25 30
--------- . ----- + (-1) -----
1+2s s s
Open loop

Vt (  ) = 250 - 30

= 220 V
Closed loop
5
------ = G3
1+ s
- (1+ 2s)
---------- = G4
(2 + 2s)
 Closed Loop
Vt (s) = G3 Vr (s) + G4 Ia (s)

5 50 30 - (1 + 2s)
= ------- . ----- + ---- . ---------
1+s s s (2+
2s)
 Closed Loop
Vt ( ) = 250 - 15

= 235 V
Sensitivity to parameter
variation
R + E C
G
-

H
C G
--- = ----------
R 1+ GH

= T (s) (say)
Sensitivity =

percentage change in T
--------------------------------
percentage change in G
 T
S G = ( T / T) / ( G / G)

= ( T /  G) ( G /T )
(T / G) =
 /  G { G / (1+GH) }

(1+GH) - GH
= --------------------
2
(1+GH)
 1 G
S
T
G = -------------- -------
( 1 + GH ) 2
T

1 G (1 + GH)
= -------------- ---------------
( 1 + GH ) 2
G
 1
= ----------
1+ GH
for open loop T = G
T
 S G = 1

This is reduced by a factor

(1 + GH) by negative feed
back
 T
S H
= (T / H) (H / T)

- GH
= -----------  1
1 + GH
No load closed loop
KA Kg
G = --------------
Rf + s Lf

H = K
Evaluate

S
T

KA

f
o
r 
=0
 50 K A
G = ---------------
100 + 200 s

H = 0.1
 50 K A
T = -----------------------
100 + 200 s + 5 KA
T KA
 =
 KA T