Automatic Control Systems 10e

Chapter 1 – Introduction to Control Systems

Learning Outcomes
After successful completion of this chapter, you will be able to
1.Appreciate the role and importance of control systems in our daily lives.
2.Understand the basic components of a control system.
3.Understand the difference between the open-loop and closed-loop systems, and the
role of feedback in a closed-loop control system.
4.Gain a practical sense of real life control problems, through the use of LEGO®
MINDSTORMS®, MATLAB®, and Simulink®.
 Chapter 1 – Introduction to Control Systems

The main objectives of this chapter are

1. To define a control system.
2. To explain why control systems are important.
3. To introduce the basic components of a control system.
4. To give some examples of control-system applications.
5. To explain why feedback is incorporated into most control systems.
6. To introduce types of control systems.
 Chapter 1 – Introduction to Control Systems

1-1 BASIC COMPONENTS OF A CONTROL SYSTEM

• Objectives of control.
• Control-system components.
• Results or outputs.
 Chapter 1 – Introduction to Control Systems

1-2 EXAMPLES OF CONTROL-SYSTEM APPLICATIONS

Intelligent Transportation Systems
• Drive-by-Wire and Driver-Assist Systems
• Integration and Utilization of Advanced Hybrid Powertrains
• High-Performance Real-Time Control, Health Monitoring, and Diagnosis

Figure 1-1 Basic components of a

control system.
Chapter 1 – Introduction to Control Systems
Chapter 1 – Introduction to Control Systems
Chapter 1 – Introduction to Control Systems

1-2-3 Idle-Speed Control of an Automobile

Figure 1-2 Idle-speed control system.

 Chapter 1 – Introduction to Control Systems

1-2-4 Sun-Tracking Control of Solar Collectors

Figure 1-3 Solar collector field.

Chapter 1 – Introduction to Control Systems

Figure 1-4 Conceptual method of

efficient water extraction using solar
power.
Chapter 1 – Introduction to Control Systems

Figure 1-5 Important components of the

sun-tracking control system.
 Chapter 1 – Introduction to Control Systems

1-3 OPEN-LOOP CONTROL SYSTEMS (NONFEEDBACK SYSTMES)

Figure 1-6 Elements of an open-loop

control system.
 Chapter 1 – Introduction to Control Systems

1-4 CLOSED-LOOP CONTROL SYSTEMS (FEEDBACK CONTROL SYSTMES)

Figure 1-7 Block diagram of a closed-

loop idle-speed control system.
 Chapter 1 – Introduction to Control Systems

1-4 CLOSED-LOOP CONTROL SYSTEMS (FEEDBACK CONTROL SYSTMES)

Figure 1-8 (a) Typical response of the

open-loop idle-speed control system. (b)
Typical response of the closed-loop idle-
speed control system.
 Chapter 1 – Introduction to Control Systems

1-5 WHAT IS FEEDBACK, AND WHAT ARE ITS EFFECTS?

Figure 1-9 Feedback system.

 Chapter 1 – Introduction to Control Systems

1-5 WHAT IS FEEDBACK, AND WHAT ARE ITS EFFECTS?

 Chapter 1 – Introduction to Control Systems

1-5-2 Effect of Feedback on Stability

Figure 1-10 Feedback system with two

feedback loops.
1-5-2 Effect of Feedback on Stability
 Chapter 1 – Introduction to Control Systems

1-5-3 Effect of Feedback on External Disturbance or Noise

Figure 1-11 Feedback system with a

noise signal.
Chapter 1 – Introduction to Control Systems
Chapter 1 – Introduction to Control Systems
Chapter 1 – Introduction to Control Systems
 Chapter 1 – Introduction to Control Systems

1-9 CONTINUOUS-DATA CONTROL SYSTEMS

Figure 1-12 Schematic diagram of a

typical dc closed-loop system.
Chapter 1 – Introduction to Control Systems

Figure 1-13 Schematic diagram of a

typical ac closed-loop control system.
 Chapter 1 – Introduction to Control Systems

1-10 DISCRETE-DATA CONTROL SYSTEMS

Figure 1-14 Block diagram of a sampled-

data control system.
 Chapter 1 – Introduction to Control Systems

1-10 DISCRETE-DATA CONTROL SYSTEMS

Figure 1-15 Digital autopilot system for

aircraft attitude control.
 Chapter 1 – Introduction to Control Systems

1-11 CASE STUDY : INTELLIGENT VEHICLE OBSTACLE AVOIDANCE-LEGO

MINDSTORMS

Figure 1-16 Final car product with host

computer.
 Chapter 1 – Introduction to Control Systems

1-11 CASE STUDY : INTELLIGENT VEHICLE OBSTACLE AVOIDANCE-LEGO

MINDSTORMS
Chapter 1 – Introduction to Control Systems
Chapter 1 – Introduction to Control Systems

Figure 1-17 Car design – side view.

Chapter 1 – Introduction to Control Systems

Figure 1-18 Car design – bottom view.

Chapter 1 – Introduction to Control Systems

Figure 1-19 Block diagram of a position-

control, armature-controlled dc motor
representing the LEGO car
Chapter 1 – Introduction to Control Systems
Chapter 1 – Introduction to Control Systems
 Chapter 1 – Introduction to Control Systems

Figure 1-20 Car Simulink model.

Car mass M = 574 g

Armature resistance Ra = 2.27 Ω
Armature inductance La = 0.0047 H
Motor torque constant Ki = 0.25 N ⋅ m/A
Back-EMF constant Kb = 0.25 V/rad/s
Equivalent viscous-friction coefficient B = 0.003026 kg ⋅ m2/s or N ⋅ m/s
Total moment of inertia J = 0.00246 kg ⋅ m2

Table 1-1 LEGO Car System Parameters.

Chapter 1 – Introduction to Control Systems

Figure 1-20 Car travel.

Chapter 1 – Introduction to Control Systems

Figure 1-22 Car speed graph.

Chapter 1 – Introduction to Control Systems

Figure 1-25 Final position.

Chapter 1 – Introduction to Control Systems
Chapter 1 – Introduction to Control Systems

Figure 1-27 Car speed plot.