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MIE404: Control

Systems
Lecture 1 Part I
Course Overview

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MIE404 Fall 2015

Instructor
Amy Bilton
Assistant Professor
Director Water and
Energy Research Lab
Previous:
Controls Engineer at
Pratt & Whitney and
Honeywell Aerospace
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Instructor Research Background


Sensing for
Ocean Observations

Binary Mirror Systems

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Sensing and Control for


Space Robotics

Robotic Mobility Aids for Elderly

MIE404 Fall 2015

Sustainable Systems
For Aquaculture

Water Systems for


Remote Communities

Instructor Office Hours


Available for questions
Immediately following lecture
During scheduled office hours
Wednesday 5-6pm MC311

Please feel free to ask!

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MIE315 - Spring 2015

Instructor Classroom Policy


At the University of Toronto, we are teaching you
both technical and professional engineering skills.
Being attentive and timely are part of those skills.
Talking and entering late are distracting for other
students.
My Policy
Class starts promptly at 10 minutes after the hour.
Latecomers - enter quietly and quickly find seat.

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MIE315 - Spring 2015

Introductions
TA Team
Tutorial TA
Edem Dovlo edovlo@mie.utoronto.ca
Lab TA
Amro Ibrahim am.ibrahim@mail.utoronto.ca
Lab TA
Chi-Hang Kwan chihang.kwan@mail.utoronto.ca
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Course Content
System Modeling
+

= ( )

Dynamics and Stability


+

= ( )

System Control

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Control System Examples


Fully Mechanical Systems Flyball Governor

[1]
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Control System Examples


Segway

[2]
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Control System Examples


Robotics

[3]

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Control System Examples


Solar Concentrators

[4]

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Learning Objectives
By the end of this class you will be able to:
Develop dynamic models for basic linear systems.
Understand the concepts of system stability and
dynamic response.
Able to apply tools such as root locus, Bode diagrams,
and Nyquist diagrams to analyze system stability and
design control laws.
Synthesize control laws to achieve desired stability and
dynamic response criteria.
How to achieve these learning objectives ?
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Control Systems Course


Components
Tutorials

Labs
1-5

Lectures

Class
Project

Tests

Readings

Control
Systems
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Labs
- Start the week of Sept 21.
- 5 labs conducted throughout the semester.
- Signup online to specify preference of weeks.
http://goo.gl/forms/0PouxNLsiv
- Attendance is required!
- Reports to be handed in via turnitin.com by Sunday
following lab activity.

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Lectures
Tuesdays 3-4 pm MC102
Thursdays 3-5pm MC102
Lecture notes will posted before each lecture.
Outline is present, examples will be filled in during lecture.

Lecture schedule in syllabus.


Part 1: System Modeling
Part 2: System Dynamics and Stability
Part 3: Control Design Using Root Locus and FrequencyResponse Techniques
Part 4: State Space Representation
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Tutorials
Section 1 - Tuesday 1-3pm HA403
Section 2 - Friday 2-4pm HA403
Attend the assigned tutorial session due to space
limitations.
Sample problems will be overviewed by teaching
assistant and additional instruction will be provided in
required areas.

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Readings
GF Franklin, JD Powell, A
Emami-Naeini. Feedback
Control of Dynamic Systems,
7th edition
- Available at the bookstore.
- Reference for lectures.
- Sample problems in
tutorials.

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Tests
Mid-term and final exam will be open lecture notes
and textbook. No other material will be allowed.
Tentative Midterm Date: Thursday, Oct 29
Time 90 minutes

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Project
Conducted in teams of 2-3 students.
Will involve modeling, analysis, and control design
for a dynamic system.
Project description to be handed out at mid-point
of the semester.

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Grading

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Labs
Mid-Term Test
Project
Final Exam

10%
25%
15%
50%

Total

100%

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MIE404: Control
Systems
Lecture 1 Part II
Introduction to Control Systems

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Control Systems - Definitions


System

Control System

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Parts of a Control System


Example Control System Parabolic Dish Solar
Collector

[4]

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Parts of a Control System


Example Control System Sun Tracking Heliostat

[5]
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Open Loop Control


Definition:

Example:

[5]

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Closed Loop Control


Definition:

Example:

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Feedback Control

[5]

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Types of Controllers
Regulators
Controlled output is held as close as possible to a
constant desired value

Servo-mechanisms
Controlled output is made to track a varying input as
closely as possible

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Why Use Feedback?

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First Look at Feedback


Vehicle Speed Control

[5]
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First Look at Feedback


Vehicle Speed Control Open Loop
Road Grade w

0.5
Controller
Reference
r

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Control Input
u

10

+
Plant

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Output
Speed
y

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First Look at Feedback


Vehicle Speed Control Closed Loop
Road Grade - w

0.5
Control
Controller Input
u
K

Reference
r +
-

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Output
Speed
y

Plant

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First Look at Feedback


Vehicle Speed Control Closed Loop

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Objectives of Control Engineers


Selection and arrangement of control system
components to achieve a desired performance.

Starts with a development of simple models of the


system.
Analysis of the system properties.

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Review
Take Away

Next Lecture

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References
[1] http://kids.britannica.com/comptons/art167033/The-flyball-governor-is-an-early-automaticcontrol-system-for
[2] http://www.ubergizmo.com/2015/04/china-basedcompany-ninebot-acquires-segway/
[3] https://illumin.usc.edu/162/the-quadrotors-comingof-age/
[4] NREL, Estimating the Performance and Economic
Value of Multiple Concentrating Solar Power
Technologies in a Production Cost Model, 2013.
Available: http://www.nrel.gov/docs/fy14osti/58645.pdf
[5] R. Ben Mrad, MIE404 Notes Fall 2014, 2014.
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