ME 304

CONTROL SYSTEMS
Radar Dish Mechanical Engineering Department,
Middle East Technical University

Armature Inside
controlled Outside θr input
dc motor θD output

θm

G
Gearbox
b
Control
Transmitter

θD

dc amplifier Control
Transformer P f Dr.
Prof. D Y
Y. S
Samim
i ÜÜnlüsoy
lü
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 1
 CH III
COURSE OUTLINE
I. INTRODUCTION & BASIC CONCEPTS
II
II. MODELING DYNAMIC SYSTEMS

III. CONTROL SYSTEM COMPONENTS

IV.
IV STABILITY
V. TRANSIENT RESPONSE
VI. STEADY STATE RESPONSE
VII. DISTURBANCE
S C REJECTION
C O
VIII. BASIC CONTROL ACTIONS & CONTROLLERS
IX. FREQUENCY RESPONSE ANALYSIS
X. SENSITIVITY ANALYSIS
XI. ROOT LOCUS ANALYSIS

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 2

 CONTROL SYSTEM COMPONENTS
OBJECTIVES
„ Getting familiar with some
important electro-
electro-hydro-
hydro-mechanical
components commonly used in
control systems and understand
their functions.
„ Obtaining the input-
input-output
relations, overall transfer functions,
and block diagrams of these
components.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 3

 CONTROL SYSTEM COMPONENTS
„ Basic components of a control system
• reference (command) input generators,
• error measuring devices (comparators),
• amplifiers,
• actuators, and
Reference Input,
• transducers.
Error Measuring
Device

R (s) + C (s)
Amplifier Controller Actuator Plant

Transducer

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 4

 Reference
Input, Error
Detector POTENTIOMETERS
R (s) + Dorf&Bishop Table 2.5, p. 66

- „ Potentiometers can be used

• to set reference input, or
as
• error detectors , or
• transducers.
„ Linear (translational)
potentiometers
t ti t „ When a manually set reference
input is to be provided in the
form of a voltage signal,
adjustment
j of a calibrated dial
or slider allows the selection of
any voltage from 0 to E.
„ Rotary potentiometers

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 5

 Reference Input

R (s) +
LINEAR POTENTIOMETERS

- „ Linear (translational, slider)

potentiometer as an input device or
transducer
i E = Ri Ro
+
eo = E
E R eo = R o i R
L
+
Ro xi eo ⎛E⎞ R
- - eo = ⎜ ⎟ x i R o = xi
⎝L⎠ L
Translational
Potentiometer
Xi(s) Kp Eo(s)
E
Kp =
L

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 6

 Reference Input
ROTARY POTENTIOMETERS
R (s) +

- „ Rotational potentiometer as θr
an input device or transducer input

E = Ri Ro
eo = E i
R
eo = R o i R E
θT

⎛ E ⎞ Ro =
R
θi θi
eo = ⎜ ⎟ θi θT
⎝ θT ⎠ Ro
+
eo
-
θi(s) Kp Eo(s) Rotational
Potentiometer

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 7

 POTENTIOMETERS

„ Linear (translational) potentiometers as error detector

i1 i2
Error detector+amplifier E
+ R2
x1 ( s ) + Eo ( s ) R1
Kp -
- x1 Ro1 Ro2 x2

x2 ( s )
E
Kp = eo = K p ( x1 − x 2 )
L

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 8

 POTENTIOMETERS
„ Rotational potentiometers as
error detector
Error detector+amplifier

θ1 ( s ) + Eo ( s ) eo = K p ( θ1 − θ 2 )
Kp
-

θ2 ( s ) R1 R2
θ1 θ2
Ro1 Ro2

+
E
-

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 9

 TACHOMETER
Nise p.547-
p.547-548, Dorf&Bishop Table 2.5, p. 66

„ Tachometer
T h iis essentially
i ll a
special dc generator producing
an output voltage proportional

ω(t) = θ(t) to its angular speed.
speed.

 „ They are usually provided as an

Ω(s) = θ(s) = sθ(s)
integral part of electric motors.
E(s)
GEΩ (s) = = KT
Ω(s)
Ω(s) KT E(s)
E(s)
GEθ (s) = = KT s
θ(s)

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 10

 SYNCHRO
„ A synchro is a device which produces a voltage as a
function of the angular position of its rotor.
„ There are various
Th i types
t off synchros,
h and
d only
l a
single application of a synchro transmitter and a
synchro control transformer will be given here.
Inputs Outputs
„ Synchro -Angular position -Voltages induced
transmitter of rotor shaft.
shaft on stator windings
(generator) S1, S2, S3.
„ Synchro control -Angular position -Voltage induced
t
transformer
f off rotor
t shaft.
h ft b t
between rotor
t
-Voltages applied terminals.
to stator windings

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 11

 SYNCHRO
„ An error detector to convert the difference between
the angular positions of two shafts is obtained by
connecting a transmitter and a control transformer.

θL θr
Stator
Rotor
R t inp t
input
Windings
terminals
S1
S2
eo
S3

Synchro
eo = K s ( θr − θ L ) i
Transmitter
Synchro
Transformer

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 12

 OPERATIONAL AMPLIFIER
Nise p
p.64
p.64-
64-67,
64- 67 Dorf&Bishop Ex
Ex. 2
2.3,
3 Table 2
2.5,
5 pp. 64 ; Ogata Sect
Sect. 3-
3-8
„ Operational Amplifiers are commonly used to amplify
signals (dc or ac) in sensor circuits.
„ No current flows
fl through
h h an id
ideall operational
i l
amplifier.
Inverting input

- eo = K ( e2 − e1 )

e1 + „ If e1=0
0 : if e2=0:
0:
eo
e2 Non-inverting input eo = Ke2 eo = -Ke1

K ≅ 105 to106 >>1

Large gain may cause instability !
for f ≤ 10Hz
„

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 13

 OPERATIONAL AMPLIFIER
„ Summing Amplifier (Error detector)

i0 R0 ⎛ R0 R0 ⎞
eo = - ⎜ e1 - e2 ⎟
i1 R1 ⎝ R1 R2 ⎠

-
i2 For
e1 + Ro=R1=R2
- e2 eo
R2

Note the eo = e2 − e1
‘-’ sign !

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 14

 i0 R0
OPERATIONAL
i1 R1
- AMPLIFIER
i2 e’
e1 + „ Summing
- e2 eo Amplifier
Amplifie (E
(Error
o
R2
detector)

e1 - i1R1 = e', - e2 - i2R2 = e', io = i1 +i2

⎛ e1 - e' ⎞ ⎛ e2 - e' ⎞
e0 = e
e' - i0R 0 = e
e' - ⎜ ⎟ R0 + ⎜ ⎟ R0
⎝ R1 ⎠ ⎝ R2 ⎠
e0 = -Ke' K >>1 ⇒ e' ≅ 0
⎛ R0 R0 ⎞
e0 = - ⎜ e1 - e2 ⎟
⎝ R1 R2 ⎠

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 15

 HYDRAULIC SERVOMOTOR
Dorf&Bishop Example 2.6, Table 2.5, p. 65; Ogata Section 4
4--4

Power Piston & cylinder

b y (output) Depending on the pilot
valve spool
p p
position x,,
m fluid will be directed to
p2 p1
k the left or right of the
Ap x
q
(input) power piston.
Pilot valve
Power Piston & cylinder
b y (output)
drain
drain
ps m
spool p2 p1
From pump
k
Ap x (input)
q
Pilot valve

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 16

 HYDRAULIC SERVOMOTOR
Dorf&Bishop Example 2.6, Table 2.5, p. 65; Ogata Section 4
4--4

„ Loads involving large forces can be controlled by

applying only small forces.
Load Power Piston & cylinder Δp = p1 − p 2
b y (output)

q = f ( x,, Δp )
m
p2 p1 This nonlinear function
k
Ap is linearized around
q x (input)
qo=0, xo=0, and
Pilot valve Δpo=0 to give :

q = K 1 x − K 2 Δp
drain ps drain
From pump

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 17

 HYDRAULIC SERVOMOTOR
Load Power Piston & Cylinder q = K 1 x − K 2 Δp
b y (output)

1
m x=
K1
( q + K 2 Δp )
p2 p1
k
Ap
q x (input) Power piston:

Pilot valve q = Ap y
Force balance on load mass:
drain ps drain
 + by + ky = Ap Δp
my
F
From pump

1
Δp = ( my + by + ky )
Ap

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 18

 HYDRAULIC SERVOMOTOR
Load 1
Power Piston & cylinder Δp = ( my + by + ky )
b y (output) Ap

m q = Ap y
p2 p1
k
Ap 1
q x (input) x=
K1
( q + K 2 Δp )
Pilot valve

drain ps drain

1 ⎛ ⎞
F
From pump
K2
x= ⎜ Ap y + (  + by + ky ) ⎟
my
K 1 ⎜⎝ Ap ⎟
⎠

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 19

 HYDRAULIC SERVOMOTOR
Load Power Piston & cylinder
b y (output) 1 ⎛ K2 ⎞
x= ⎜ A y + ( my + by + ky ) ⎟⎟
K 1 ⎜⎝ p Ap ⎠
m
p2 p1
k
Ap
q x (input)

Pilot valve K1
A
Y(s) K2 p
G(s) = =
X(s) ⎛ Ap2 ⎞
drain ps drain
ms + ⎜ b +
2 ⎟s + k
From ⎜ K2 ⎟
pump ⎝ ⎠

If the load is not included, K1

i.e., m=b=k=0 : Ap Integrating
Y(s) K
G(s) = = = Amplifier
X(s) s s
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 20
 Draw the
HYDRAULIC SERVOMOTOR
„
block diagram.
1
x=
1
( q + K 2 Δp ) Δp = ( my + by + ky )
K1 Ap

1
⎡⎣K 1 X(s) − Q(s)⎤⎦ = ΔP(s) Ap ΔP(s) − bsY(s) − kY(s) = ms 2 Y(s)
K2
k
X(s) + 1 ΔP(s) + - 1 sY(s) 1
K1 Ap
K2 ms s Y(s)
- -
Q(s) b
Ap
q = Ap y Q(s) = Ap sY(s)

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 21

 LINEAR ACTUATOR (SOLENOID)
„ A linear actuator consists of a coil of wire mounted in a
metallic frame with a metallic plunger within the coil.
„ An
A applied
li d voltage
lt (mostly
( tl dc)
d ) causes a currentt to
t flow
fl
in the coil, and a magnetic field which tends to pull the
plunger is created.
„ The stroke and the force exerted by the plunger at a
given voltage are the basic specifications for a solenoid.
e (input)
coil

„ Electro--Mechanical
Electro plunger
component spring
x Metallic
(output) f
frame
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 22
 e
coil
LINEAR ACTUATOR
plunger
(SOLENOID)
spring K : Electromagnetic coupling constant
x eb : Back voltage
frame
fp = Ki

eb = Kx
m + R L
i +

fb = bx
Plunger mass e
fk = kx -
-

fn =mx
 +bx
 +kx =Ki di
mx e = Ri + L + Kx 
eb =Kx
dt
(ms2 +bs+k ) X(s)=KI(s) E( ) = ( R + L
E(s) Ls ) I(
I(s)) + K
KsX(s)
X( )

Mechanical Electrical

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 23

 e
coil
plunger LINEAR ACTUATOR
(SOLENOID)
spring
K : Electromagnetic coupling constant
x frame eb : Back voltage

fp =Ki

eb = Kx
m + R L
i +

fb = bx Plunger mass e
fk = kx -
-

( ms2 + bs + k ) X(s) = KI(s) E(s) = ( R + Ls ) I(s) + KsX(s)

X(s) K
G(s) = =
(
E(s) mLs 3 + ( mR + bL ) s 2 + bR + kL + K 2 s + kR
)
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 24
 LINEAR ACTUATOR (SOLENOID)
Draw the block diagram ( )
ms 2 + bs + k X(s) = KI(s)
( ) = ( R + Ls ) I(s)
E(s) ( ) + KsX(s)
( )
1
1
X(s) =
2
[ KI(s) − bsX(s) − kX(s)]
[ E(s) − KsX(s)] = I(s) ms
( R + Ls )
k

-
E(s) 1 I(s) 1 sX(s) 1
K
+ Ls + R + ms s X(s)
-
-
b
K

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 25

 LINEAR ACTUATOR (SOLENOID)
Draw the block diagram ( )
ms 2 + bs + k X(s) = KI(s)
( ) = ( R + Ls ) I(s)
E(s) ( ) + KsX(s)
( )
1
1
X(s) =
2
[ KI(s) − bsX(s) − kX(s)]
[ E(s) − KsX(s)] = I(s) ms
( R + Ls )
k

-
E(s) 1 I(s) 1 sX(s) 1
K
+ -
La s + ms s X(s)
-
-
Ra
b
1
K
Ls + R

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 26

 ROTARY ACTUATOR - DC SERVOMOTOR
Nise Sect. 2.8, Dorf&Bishop Ex. 2.5, Ogata Ex. A
A--3-23
„ DC motors are more commonly used in control
systems, as AC motors are more difficult to control
and their characteristics are highly nonlinear.
nonlinear
„ The most commonly used control
configuration with dc motors is
the
th separately
t l excited
it d field
fi ld
windings. The control is through
the applied armature voltage,
keeping field current constant.
constant

+ load
Tm b
Ra ia La
ea eb J
armature
- ω
if
field

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 27

 DC SERVOMOTOR
+ load
Tm b
Ra ia La
ea eb J
armature
- ω
if field
„ For fixed field current, the torque
produced by the motor is Tm = K t ia
proportional to armature current.
Kt : motor torque constant
When the armature rotates, a
„

back emf or voltage is produced

in the armature.
Kb : back emf constant
ME 304 CONTROL SYSTEMS
eb = K b ω
„ Note : In a consistent set
of units, the value of Kt is
equal to the value of Kb !
Prof. Dr. Y. Samim Ünlüsoy 28
 DC SERVOMOTOR
+ load
Tm b
Ra ia La
ea eb J
armature
- ω
if
field

„ The speed of the motor is

controlled by the armature dia
voltage
g which is supplied
pp by
y La + R a i a + e b = ea
an amplifier. For the armature dt
circuit :
„ Torque balance on the
equivalent mass moment of Jω
 + bω = Tm = K t ia
inertia of the motor and the
load gives :

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 29

 DC SERVOMOTOR

+ load
Tm b
Ra ia La
ea eb J
armature
- ω
if
field

eb = K b ω Eb (s) = K b sθ(s)

La
dia
+ R a ia + eb = ea ( La s + Ra ) Ia (s) + Eb (s) = Ea (s)
dt
Jω
 + bω = Tm = K t ia ( )
Js 2 + bs θ(s) = Tm (s) = K t Ia (s)

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 30

 DC SERVOMOTOR
Draw the block diagram

( La s + Ra ) Ia (s) = Ea (s) − Eb (s) Js 2θ(s) = K t Ia (s) − bsθ(s)

Ea(s) 1 Ia (s) 1 sθ(s) 1 θ(s)

Kt
+ Las + Ra + Js s
-
-
b
Eb (s)
Kb
Eb (s) = K b sθ(s)

Electrical Mechanical

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 31

 DC SERVOMOTOR
Modify the block diagram

Ea(s) 1 Ia (s) 1 sθ(s) 1 θ(s)

Kt
+ La s + J
Js s
- -
-
Ra
b
Eb (s)
Kb
Eb (s) = K b sθ(s)
It is observed that even though
the system is basically open loop,
there is a built-
built-in feedback.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 32

 DC SERVOMOTOR
The overall transfer function
θ (s) Kt
G(s) = =
Ea (s) s ⎡ JL s 2 + ( bL + JR ) s + R b + K K ⎤
⎣ a a a a t b⎦

La is usually small and can be neglected. Thus

Kt

G(s) =
θ (s)
=
( K t K b + R ab ) =
Km
Ea (s) ⎛ JR a ⎞ s ( Tms + 1)
s⎜ s + 1⎟
⎝ K t K b + R ab ⎠
Km : Motor gain constant,
Tm : Motor time constant.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 33

Radar EXAMPLE a
Dish

dc
θd θr
motor
output input
θm

Gearbox
Control
θd Transmitter

dc Control
amplifier Transformer

A servomechanism designed for a radar operator to

direct a remotely positioned radar dish is illustrated in
the figure.
The operator keeps the images of the aircraft in the
vicinity within the radar screen by rotating the hand
wheel and thus rotating the dish.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 34
Radar EXAMPLE b
Dish

dc
Gearbox :
motor n : gear reduction θr
θm Td ratio. input
Tm
Gearbox Dish:
Jd : inertia of dish. Control
ea es θd Output Transmitter

dc amplifier Control Transformer

Armature controlled dc electric motor :

ia : armature current, R : armature resistance
La : armature inductance,
Kt : motor torque
q constant,, Kb: back emf constant.

Synchro pair : Dc amplifier :

Ks : error detector gain. Ka : amplifier gain.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 35

Radar EXAMPLE c
Dish

dc
motor θr
θm Τd input
Tm
Gearbox
Control
ea es θd Output Transmitter

dc amplifier Control Transformer

Synchro Pair : es = K s ( θr - θd ) Es (s) =K s [θr (s)-θd (s)]

Amplifier : ea = K aes Ea (s) = K aEs (s)
Gearbox : Td = nTm Td (s)= nTm (s)
θm = nθd θm (s) = nθd (s)

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 36

Radar EXAMPLE d
Dish
Dish :
dc
θr
motor
Τd
d 2 θd
θm Td = J d input
Tm dt 2
Gearbox
Td (s) = J d s 2 θd (s) Control
ea es θd Output Transmitter

dc amplifier Control Transformer

Dc motor : dia Tm = K t ia
La + R a ia + K b ωm = ea
dt
( La s + Ra ) Ia (s) + K b sθm (s) = Ea (s) Tm (s) = K t Ia (s)

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 37

 EXAMPLE e

Synchro
y Pair : Es (s) =K s[θr (s)- θd(s)]
Amplifier : Ea(s)=K aEs (s)
Gearbox : Td(s)
(s)=nT
nTm(s) θm(s)
(s)=nθ
nθd(s)

Dc motor : (Las+R a ) Ia(s)+Kbsθm(s)=Ea(s)

Tm(s)=K tIa(s)
Dish :
Td(s)= Jds2θd(s)

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 38

 Block Diagram EXAMPLE f

( La s + R a ) Ia (s) = Ea (s) - Eb (s) Td (s) = nTm (s)

2
Es (s)=Ks ⎡⎣θr (s) − θd (s)⎤⎦ Ea (s)= K aEs (s) T
T m (s) = K t Ia (s) d (s) = Jd θd (s)
s
Es (s) Ea (s) Ia (s) T (s)
θr (s) Tm ( ) d
(s)
Ks Ka 1 1 1 θd (s)
+ + Las + Ra Kt n Jds s
-
-
Eb (s) sθm (s)
sθd (s)
Kb n θm (s) = nθd (s)

Eb (s) = Kb sθm (s)

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 39

 TYPICAL SENSORS
Sensor Input Output
„ Potentiometer Position , x Voltage, E
Angular position, θ Voltage, E
„ Encoder Angular position , θ Voltage, E
„ LVDT Position, x Voltage, E
„ Tachometer Angular velocity, ω Voltage, E
„ Resolver Angular velocity , ω Voltage, E
„ Thermocouple Temperature, T Voltage, E
„ P
Pressure P
Pressure, p V lt
Voltage, E
Transducer

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 40

 TYPICAL SENSORS
Sensor Input Output
LVDT Position,, x Voltage,
g ,E
„ The letters LVDT stand for Linear Variable Differential
Transformer,, a common type of electromechanical
Transformer
transducer that can convert the rectilinear motion of an
object into a corresponding electrical signal.
„ LVDT linear position sensors are available to measure
di l
displacements
displacements
t as smallll as a few
f millionths
illi th off a
centimeter up to several centimeters,
centimeters, but some are also
capable of measuring displacements up to ±0.5 metres
metres..

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 41