PE-3032 Introduction to Control Systems Engineering

Professor Charlton S. Inao Control System Engineering/Mechatronics Defence Engineering University College 2012 Bishoftu, Ethiopia

COURSE SYNOPSIS/DESCRIPTION

Introduction to control systems, open and closed loop control, control building blocks and transfer functions, Laplace transformation, mathematical model of physical systems, servomechanism, characteristics, and performance of feedback control systems, transient response analysis of zeros, first and second order systems stability analysis in feedback controls, Root locus and frequency response method, Nyquist/Bode diagrams, leadlag PID compensators. Introduction to digital control, state space analysis and control systems hardware considerations.

COURSE OUTCOMES (CO)

At the end of the whole course, the student is expected to develop the following:

CO1

Ability to apply various mathematical principles (from calculus and linear algebra) to solve control system problems. Ability to obtain mathematical models for such mechanical, electrical and electromechanical systems. Ability to derive equivalent differential equation, transfer function and state space model for a given system. The ability to perform systems time and frequency-domain analysis with response to test inputs. Analysis includes the determination of the system stability.

CO2

CO3

CO4

COURSE EVALUATION

Mid-Term Final Examination Lab Assessment Assignments Total Mark

: : :

30% 50% 10% 10% 100%

LIST OF REFERENCES

Textbook Ogata K. (2002). Modern Control Engineering (3rd Ed), Prentice Hall. References 1. W. Bolton , Control Engineering ,3rd Edition, 2005, Longman Publication 2. Benjamin C. Kuo and Farid Golnaraghi, Automatic Control Systems, John Wiley, 2003 3. Norman S. Nise, Benjamin Cummings, Control Systems Engineering, 4th edition, 2004 4. Richard C. Dorf and Robert H. Bishop, Modern Control Systems, Addison Wesley, 7th Edition, 1995

ACADEMIC STAFF

Lecturer

Prof. Charlton S. Inao

BS. Mech .Eng (Philippines, M.Eng (Germany), AdvancedProduct Design and Development Study major in Automation

Germany Advanced Plant Process and Control and Mechatronics - Japan

Advanced Research and Experimental Design, Six Sigma and Taguchi Method Studies, Laser Printer Control and Design - IBM- Lexmark, Kentucky, USA

TEACHING PLAN
Week
1-2
3-4 5-6 7-8 10-12 13-14 15 16-17

Course Content
Introduction to Control Systems
The Basics of Control Theory Mathematical Model of Systems System Response and Stability The Root Locus Method Frequency Response Method PID Controllers
State Space Analysis and Digital Control

CONTENTS
Basic Concepts Classification of systems and signals Classification of control systems Control System Application examples Exercises

BASIC CONCEPTS

System

A collection of components which are coordinated together to perform a function.

A system with a memory. For example, the input value at time t will influence the output at future instant.

Dynamic System

A system interact with their environment through a controlled boundary.

BASIC CONCEPTS

The interaction is defined in terms of variables.

i. ii. iii.

System input System output Environmental disturbances

SYSTEM VARIABLES

The systems boundary depends upon the defined objective function of the system. The systems function is expressed in terms of measured output variables. The systems operation is manipulated through control input variables. The systems operation is also affected in an uncontrolled manner through disturbance input variables.

CONTROL SYSTEM

Control is the process of causing a system variable to conform to some desired value. Manual control Automatic control (involving machines only). A control system is an interconnection of components forming a system configuration that will provide a desired system response.
Input Signal

Control System
Energy Source

Output Signal

MANUAL VS AUTOMATIC CONTROL

Control is a process of causing a system variable such as temperature or position to conform to some desired value or trajectory, called reference value or trajectory. For example, driving a car implies controlling the vehicle to follow the desired path to arrive safely at a planned destination.
i.

If you are driving the car yourself, you are performing manual control of the car.

ii.

If you use design a machine, or use a computer to do it, then you have built an automatic control system.

RESPONSE CHARACTERISTICS

Transient response:

Gradual change of output from initial to the desired condition Approximation to the desired response

Steady-state response:

For example, consider an elevator rising from ground to the 4th floor.

BLOCK DIAGRAM

Component or process to be controlled can be represented by a block diagram. The input-output relationship represents the cause and effect of the process.
Input

Process

Output

Control systems can be classified into two categories: i. Open-loop control system ii. Closed-loop feedback control system

CONTROL SYSTEM CLASSIFICATION

An open-loop control system utilizes an actuating device to control the process directly without using feedback.
Desired Output Response

Actuating Device

Process

Output

A closed-loop feedback control system uses a measurement of the output and feedback of the output signal to compare it with the desired output or reference.
Desired Output Respons e

Compariso n

Controller Measurement

Process

Output

Single Input Single Output (SISO) System

1. OPEN LOOP CONTROL SYSTEM

In an open loop control system, the input to the plant does not in any way depend on the current and past values of the output of the plant. Relatively simple and consequently low cost with generally good reliability.

BLOCK DIAGRAM OF OPEN LOOP SYSTEM

An open-loop control system is one in which the control action is independent of the output.

APPLICATIONS OF OPEN LOOP

Motor low pass filter Inertia supported between two bearings Heater /boiler Cooking Oven Water valve system in a pool or sink

OPEN LOOP: CONTROL OF A DC MOTOR

DISADVANTAGE OF OPEN LOOP

The biggest problem with the open loop control systems is that they rely totally in calibration, and ca not effectively deal with exogenous disturbances. They can not effectively deal with changes in the process. Can not deal with uncertainty. Can not stabilize an unstable system. Often in accurate since there is no correction for error.

2. CLOSED LOOP CONTROL SYSTEM

Closed loop control system make the control system robust to uncertainty and disturbances. It senses the output of the system and adjust the control input using feedback rules, which are based on how the system output deviates from the system behaves.

The feedback helps compensate for the differences, if the system behaves slightly differently than the model.
Relatively accurate in matching the actual to the required values. More complex, and more expensive, grater chance of breakdown due to number of components.

FEEDBACK
Feedback is that property of a closed-loop system which permits the output (or some other controlled variable) to be compared with the input to the system (or an input to some other internally situated component or subsystem) so that the appropriate control action may be formed as some function of the output and input

BASIC ELEMENTS OF A CLOSED LOOP SYSTEM

Comparison element Control element Correction Element Process element Measurement element

CLOSED LOOP
A closed-loop control system is one in which the control action is somehow dependent on the output.

CLOSED LOOP SYSTEM WITH EXTERNAL DISTURBANCE AND NOISE MEASUREMENT

MULTILOOP FEEDBACK SYSTEM WITH INNER LOOP AND OUTER LOOP

MULTI VARIABLE CONTROL SYSTEM

APPLICATIONS OF CLOSED LOOP

Guided missiles automatic gain control in radio receivers satellite tracking antenna Etc.

CONTROL OF A DISK WITH TACHOMETER

CLOSED LOOP: DISK DRIVE SYSTEM

CONTROL SYSTEM CLASSIFICATION

Missile Launcher System

Open-Loop Control System

CONTROL SYSTEM CLASSIFICATION

Missile Launcher System

Closed-Loop Feedback Control System

CONTROL SYSTEM CLASSIFICATION

Desired Output Respons e

Controller

Process

Output Variable s

Measurement

Multi Input Multi Output (MIMO) System

PURPOSE OF CONTROL SYSTEMS

i.

Power Amplification (Gain)

Positioning of a large radar antenna by low-power rotation of a knob

Robotic arm used to pick up radioactive materials Changing room temperature by thermostat position Controlling antenna position in the presence of large wind disturbance torque

ii.

Remote Control

iii.

Convenience of Input Form

iv.

Compensation for Disturbances

HISTORICAL DEVELOPMENTS
i.

Ancient Greece (1 to 300 BC)

Water float regulation, water clock, automatic oil lamp

Temperature control Flyball governor Modern control theory

ii.

Cornellis Drebbel (17th century)

iii.

James Watt (18th century)

iv.

Late 19th to mid 20th century

WATTS FLYBALL GOVERNOR

HUMAN SYSTEM

The Vetruvian Man

HUMAN SYSTEM
i.
ii.

Pancreas

Regulates blood glucose level Automatically generated to increase the heart rate and oxygen in times of flight

Adrenaline

iii.

Eye
Follow moving object Hand Pick up an object and place it at a predetermined location

iv.

v.

Temperature

Regulated temperature of 36C to 37C

TEMPERATURE CONTROL

Figure shows a schematic diagram of temperature control of an electric furnace. The temperature in the electric furnace is measured by a thermometer, which is analog device. The analog temperature is converted to a digital temperature by an A/D converter. The digital temperature is fed to a controller through an interface. This digital temperature is compared with the programmed input temperature, and if there is any error , the controller sends out a signal to the heater, through an interface, amplifier and relay to bring the furnace temperature to a desired value.

TRANSPORTATION
Car and Driver

Objective: To control direction and speed of car Outputs: Actual direction and speed of car Control inputs: Road markings and speed signs Disturbances: Road surface and grade, wind, obstacles Possible subsystems: The car alone, power steering system, breaking system

TRANSPORTATION

Functional block diagram:

Desired course of travel + Actual course of travel

Error

Driver

Steering Mechanism

Automobile

Measurement, visual and tactile

Time response:

TRANSPORTATION

Consider using a radar to measure distance and velocity to autonomously maintain distance between vehicles.

Automotive: Engine regulation, active suspension, anti-lock breaking system (ABS) Steering of missiles, planes, aircraft and ships at sear.

PROCESS INDUSTRY

Control used to regulate level, pressure and pressure of refinery vessel.

Coordinated control system for a boilergenerator.

For steel rolling mills, the position of rolls is controlled by the thickness of the steel coming off the finishing line.

MANUFACTURING INDUSTRY

Consider a three-axis control system for inspecting individual semiconducting wafers with a highly sensitive camera

HOMES
i.

CD Players

The position of the laser spot in relation to the microscopic pits in a CD is controlled.

ii.

Air-Conditioning System

Uses thermostat and controls room temperature.

CONTROL SYSTEM COMPONENTS

i.

System, plant or process

To be controlled
Converts the control signal to a power signal Provides measurement of the system output Represents the desired output

ii.

Actuators

iii.

Sensors

iv.

Reference input

GENERAL CONTROL SYSTEM

Disturbance
Controlle d Signal Manipulate d Variable

Set-point or Reference input + -

Error

Controller

Actuator

+ +

Actual Output

Process

Feedback Signal

Sensor

CONTROL SYSTEM DESIGN PROCESS

1.

Establish control goals

2.

Identify the variables to control

3.

Write the specifications for the variables 4. Establish the system configuration and identify the actuator

If the performance does not meet specifications, then iterate the configuration and actuator

5.

Obtain a model of the process, the actuator and the sensor

6.

Describe a controller and select key parameters to be adjusted

7.

Optimize the parameters and analyze the performance If the performance meet the specifications, then finalize design

TURNTABLE SPEED CONTROL

Application: CD player, computer disk drive Requirement: Constant speed of rotation Open loop control system:

Block diagram representation:

TURNTABLE SPEED CONTROL

Closed-loop control system:

Block diagram representation:

DISK DRIVE READ SYSTEM

Goal of the system: Position the reader head in order to read data stored on a track. Variables to control: Position of the reader head

DISK DRIVE READ SYSTEM

Specification:
i. ii. iii. iv.

Speed of disk: 1800 rpm to 7200 rpm Distance head-disk: Less than 100nm Position accuracy: 1 m Move the head from track a to track b within 50ms

System Configuration:

Control System Application

CLOSED LOOP SYSTEM; NATIONAL INCOME MODEL

BOILER GENERATOR

REHABILITATION DEVICE

SAMPLE SOLVED PROBLEMS

PROBLEM: Describe the block diagram of a person playing a video game. Suppose that the input device is a joystick and the game is being played on a desktop computer.

PROBLEM: INVERTED PENDULUM

Consider the inverted pendulum shown in Figure El. 13. Sketch the block diagram of a feedback control.

SOLUTION: INVERTED PENDULUM

UAV FOR CROP MONITORING

Unmanned aerial vehicles (UAVs) are being developed to operate in the air autonomously for long periods of time By autonomous, we mean that there is no interaction with human ground controllers. Sketch a block diagram of an autonomous UAV that is tasked for crop monitoring using aerial photography.The UAV must photograph and transmit the entire land area by flying a pre-specified trajectory as accurately as possible.

UNMANNED AERIAL VEHICLE FOR CROP MONITORING

E -ENABLED AIRCRAFT
Future advanced commercial aircraft will be Enabled. This will allow the aircraft to take advantage of continuing improvements in computer power and network growth. Aircraft can continuously communicate their location, speed, and critical health parameters to ground controllers, and gather and transmit local meteorological data. Sketch a block diagram showing how the meteorological data from multiple aircraft can be transmitted to the ground, combined using ground-based powerful networked computers to create an accurate weather situational awareness, and then transmitted back to the aircraft for optimal routing.

SOLUTION: E- ENABLED AIRCRAFT

MOTORCYCLE
Describe the block diagram of the speed control system of a motorcycle with a human driver.

TWO HIGHWAY LANES MERGE INTO ONE

Problem: Modern automated highways are being implemented around the world. Consider two highway lanes merging into a single lane. Describe a feedback control System carried on the automobile trailing the lead automobile that ensures that the vehicles merge with a prescribed gap between the two vehicles.

TWO HIGHWAY LANES MERGE INTO ONE

SOLUTION :

FURTHER READING

Chapter 1
i.

ii.

Nise N.S. (2004). Control System Engineering (4th Ed), John Wiley & Sons. Dorf R.C., Bishop R.H. (2001). Modern Control Systems (9th Ed), Prentice Hall.