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Jenny Zhen Yu

zhenyu@cpp.edu

Department of Electrical and Computer Engineering

California State Polytechnic University, Pomona

Fall 2016

Outline

Control System Engineering Introduction

Modeling in the Frequency Domain

Time Response

Reduction of Multiple Subsystems

Stability

Steady-State Errors

Root Locus Techniques & Design Via Root Locus

Frequency Response Techniques

Introduction

Outline

Control System Engineering Introduction

Control System

Reason

System

Block Diagrams of open-loop and closed-loop system

Design Process

Test Waveform used in Control Systems

Control System Examples

Power amplification

Remote control

Convenience of input form

Compensation for disturbances

Block Diagrams of

open-loop and closed-loop system

Controller

PC - Proportional Controller

PI - Proportional Plus- Integral Controller

PD - Proportional Derivative Controller

PID - Proportional Integral Derivative

Controller

Curiosity Rover

Launched on 11/26/2011

http://mars.nasa.gov/msl/

Landed on Mars: 8/6/2012

https://en.wikipedia.org/wi

ki/Curiosity_(rover)

Journey: 563 million km

2.4 km from the targeted point

Avionics

http://www.airflite.com.au/avionics/

Autonomous Car Speed Control System

Autonomous Car Speed Control System

Vc

Desired

speed

Controller

K

K

Speed

sensor

Radar distance

sensor

Car engine

& car

Autonomous Car Direction Control System

Winter

Steering

wheel angle

Desired

difference

error

Controller

K

Actuator

(DC or stepper

motor)

Left sensor

Right sensor

car

Heading

angle

Segway Personal Transporter

Antenna Azimuth Position Control System

Step 1: Transform requirement into a physical system

Antenna Azimuth Position Control System

Step 2: Draw a functional block diagram

Antenna Azimuth Position Control System

Step 3: Create a schematic

Antenna Azimuth Position Control System

Step 4: Develop a mathematical Model (Block Diagram)

Antenna Azimuth Position Control System

Step 4: Develop a mathematical Model (Block Diagram)

Antenna Azimuth Position Control System

Step 4: Develop a mathematical Model (Block Diagram)

1. Input Potentiometer; Output Potentiometer

2. Preamplifier; Power amplifier

Antenna Azimuth Position Control System

Step 4: Develop a mathematical Model (Block Diagram)

3. Motor and Load

Antenna Azimuth Position Control System

Step 4: Develop a mathematical Model (Block Diagram)

Antenna Azimuth Position Control System

Step 4: Develop a mathematical Model (Block Diagram)

Antenna Azimuth Position Control System

Step 5: Reduce the Block Diagram

Antenna Azimuth Position Control System

Step 6: Analyze and Design

Stability Design via Gain K

Antenna Azimuth Position Control System

Step 6: Analyze and Design

Error Design via Gain K

Input

type 1

Steady-State Error

step

Kp=

ramp

Kv=constant

1/Kv=25.79/K

parabola

Ka=0

Find the value of gain, K, to yield a 10% error in the steady state.

K=257.9, which is within the gain for stability 0<K<2623.3

Reference

N. Nise, Control Systems Engineering, 7th Edition,

Wiley, 2015, ISBN 978-1-118-17051-9c

F. Golnaraghi, B. Kuo, Automatic Control

Systems, 9th Edition, Wiley, 2009, ISBN: 978-0470-04896-2

R.C. Dorf and R.H. Bishop, Modern Control

Systems, 12th Edition, Pearson, 2011, ISBN: 9780-136-02458-3

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