Академический Документы
Профессиональный Документы
Культура Документы
Winter 2012
Instructor:
M.Guay
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Organization
2
Schedule
3
References
All lectures will be available online
Derivations will be done on the board
Powerpoint slides are to support lectures
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Grading
Grading
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Guidelines
i) Assignments
ii) Exams
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Course Objectives
By the end of this course the student should be able to:
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Teaching Approach and Expectations
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Teaching Approach and Expectations
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Teaching Approach and Expectations
In return you should expect me to:
treat each of you with courtesy and respect,
be committed to help you understand and master the course
material,
by being available for out of class assistance,
by providing competent teaching assistants,
by working to continually improve the course,
treat each question or concern seriously and answer these to the
best of my ability.
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Course Outline
1. Introduction
2. Modeling for control
3. Solution of Linear ODEs using Laplace transforms
4. Transfer function models of mechanical systems
5. Analysis of Continuous-time Linear Systems
6. SISO Control System Analysis
7. Synthesis of SISO Controllers
8. SISO Controller Design
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Introduction
Feedback systems are commonplace in almost every aspect of life
Standing, walking, running etc are all forms of control systems where
the central nervous system reacts to various biosensor mechanisms
Gene regulation is controlled by complex responses that trigger various
biological mechanisms
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Introduction
Feedback systems: Interconnection of two systems
System 1
System 2
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Control
What is a feedback controller?
Process
Controller
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Classical Feedback Control
Control is meant to provide regulation of process outputs about a
reference, r, despite inherent disturbances
d
r + e u y
Controller Process
-
The deviation of the plant output, e=(r-y), from its intended reference
is used to make appropriate adjustments in the plant input, u
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Feedforward Control
Feedforward control is used to remove the effect of
measurable disturbances
Disturbance
M
Nominal Cff A P
Input +
+ Corrected
Input Input
Correction
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Open-loop vs. Closed-loop
Feedback control is an example of closed-loop control:
The process output is sent back to the controller before affecting
the process
Process
Control
Open-loop control
Control Process
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Historical Perspective
History of flight control is a testament to the importance of
control theory
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Examples
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Historical Perspective
The feedback amplifier
Invented by Black (1928) to improve signal strength
Enables telephone calls over long distances
Input + Output
-
Open-loop amplification
Becomes
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Historical Perspective
The invention of the feedback amplifier is fundamental
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Historical Perspective
By 1940, the magic of feedback was understood
An extra component to be considered for process design to:
Keep key variables constant
Stabilize unstable systems
Reduce the effects of disturbances and process variations
Main drawback: can de-stabilize stable processes
But, the similarities between all applications were not understood yet.
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Historical Perspective
From 40s, a new field emerges
Similarities between applications are understood leading to the
unification of
Solid theoretical framework
Sound design methodology
Design principles
Applications
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Introduction
In engineering applications, the design of a control system is essential to
ensure:
Good Process Operation
Process Safety
Product Quality
Minimization of Environmental Impact
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Introduction
Perturbations Processing
objectives
Plant
Market Safety
Economy Make $$$
Climate Environment...
Upsets...
Control
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Introduction
Dynamics:
Control:
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Introduction
What do we mean by process, plant or system?
Information Flow
Aerodynamic Force of
Friction Engine
Inputs Output
Friction
Process Speed
Engine
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Examples
Stirred tank heater
M
Tin, w
T, w
Q
Inputs Output
Tin
w Process T
Q
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Block representations
Block diagrams are models of the physical systems
System Physical
Transfer of
Boundary
fundamental Physical
quantities
Mass, Energy and Momentum
Abstract
Operation
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Introduction
What is required for the development of a control system?
1. Process Understanding
Required measurements
Dynamic model
Required actuators
Understand design limitations
2. Process Instrumentation
Appropriate sensor and actuator selection
Integration in control system
Communication and computer architecture
3. Process Control
Appropriate control strategy
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Examples
Measure , adjust
Controller Heater
+
C A P
-
Tank
M
Thermocouple
Feedback control
Controller:
where
Cruise Control
Friction
Process Speed
Engine
Controller
Human or Computer
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Classical Control
Control is meant to provide regulation of process outputs about a
reference, r, despite inherent disturbances
d
r + e u y
Controller Process
-
The deviation of the plant output, e=(r-y), from its intended reference
is used to make appropriate adjustments in the plant input, u
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Control
Process is a combination of sensors and actuators
Sensor
e.g. Classical feedback control loop
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Examples
Driving an automobile
Driver Steering
r + e y
C A P
-
Automobile
M
Visual and tactile measurement
Actual trajectory
Desired trajectory y
r
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Examples
Stirred-Tank Heater
Tin, w
Heater
Q T, w
TC
Thermocouple
Tin, w
TR Controller Heater
+ e y
C A P
-
Tank
M
Thermocouple 39
Examples
Measure Ti, adjust Q
Ti
M
C A P
+ Q
Qi + Q
Feedforward Control
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Feedforward Control
Feedforward control is used to remove the effect of
measurable disturbances
Disturbance
M
Nominal Cff A P
Input +
+ Corrected
Input Input
Correction
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Control Nomenclature
Identification of all process variables
Inputs
Disturbance variables
Variables affecting process that are due to external forces
Manipulated variables
Things that we can directly affect
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Control Nomenclature
Outputs
Measured
speed of a car
Unmeasured
acceleration of a car
Control variables
important observable quantities that we want to regulate
can be measured or unmeasured
Disturbances Other
Manipulated Process Control
Controller
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Examples
The speed of an automobile
Force of
Friction
Engine
Variables
Engine force: u
Car speed: v
Friction force: ffric
Aerodynamic forces: faero
Road inclination:
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Example
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Example
wi, Ti
Pc L
wc, Tci h T
wc, Tco
Po
wo, To
Variables
T
wi, wo: Tank inlet and outlet mass flows
Ti, To: Tank inlet and outlet temperatures
w c: Cooling jacket mass flow
Pc: Position of cooling jacket inlet valve
Po: Position of tank outlet valve
Tci, Tco: Cooling jacket inlet and outlet
temperatures
h: Tank liquid level
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Example
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Process Control and Modeling
Model
Design
Implementation 48
Control System Development
Develop a process
model
Design controller
based on model
Test by
Simulation
Monitor
Performance
Often an iterative process, based on performance we may 49
decide to retune, redesign or remodel a given control system
Control System Development
Objectives
What are we trying to control?
Process modeling
What do we need?
Mechanistic and/or empirical
Controller design
How do we use the knowledge of process behavior to reach our process
control objectives?
What variables should we measure?
What variables should we control?
What are the best manipulated variables?
What is the best controller structure?
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Control System Development
Implement and tune the controlled process
Test by simulation
incorporate control strategy to the process hardware
theory rarely transcends to reality
tune and re-tune
Monitor performance
periodic retuning and redesign is often necessary based on
sensitivity of process or market demands
statistical methods can be used to monitor performance
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