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SMJE 3153 Control System
Department of ESE, MJIIT, UTM
2014/2015
1
Course Outline
►Course Instructors Prof Nozomu Hamada ([email protected])and Dr. Mohd Azizi Abdul Rahman
►Course Web site UTM e-learning site
►Schedule: Week1- 5: Lecture(Hamada) Week6: TEST 1, Week7: Midterm break Week8-10: Lecture by Hamada Week11-14: Lecture by Dr. Azizi Week 15: Test 2, FINAL EXAM
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Course web site
UTM e-learning site ►Check the site often since it will be used to: ▶convey any important announcement about the course ▶distribute course material including Handout, Quiz, homework(HW), Assignments and their solutions ▶etc.
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Course Grading
►TEST 1 = 10 % ►TEST 2 = 10 % ►Two Assignments = 30% ► Final Examination = 50%
Textbook
N. S. Nise, Control Systems Engineering,
6th Edition, Wiely,2011 ▊ Lectures throughout this course are based on this text. It facilitates your self-study ▊ Way to purchase U & C book distributer, 105RM Order application List Close the list by 9th September Books will be ready within 2 weeks (from Singapore) 5
Chapter 1
INTRODUCTION
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1.1 INTRODUCTION
Control System Definition
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Control System Definition (Cont.)
Control System consists of SUBSYSTEMs + PROCESS (or PLANTS)
assembled for the purpose of obtaining A DESIRED OUTPUT
with desired PERFORMANCE,
given a SPECIFIED INPUT
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Example: elevator (position control)
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Example: elevator (Cont.)
Specified input: push of the 4th floor button Desired output: step function in Fig.1.2 location at 4th floor level Performance: can be seen from the response curve in Fig. 1.2 measure 1. transient response measure 2. steady-state error
slow response too fast response Passenger comfort vs. Patience
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Example: elevator (Cont.)
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Example: elevator (Cont.)
Elevator as a control system Motor provides the power, and control systems regulate the position and speed
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Example: Antenna Azimuth Control (case study throughout the text)
14 position control system
Radio Telescope Antenna
16 potentiometer
Antenna Azimuth Control (Cont.)
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Antenna Azimuth Control (Cont.)
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Schematic
Antenna Azimuth Control (Cont.)
19 Block Diagram
Antenna Azimuth Control (Cont.)
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Commanded position
Advantages of Control Systems Four primary reasons in control system building
1. Power Amplification ex. antenna azimuth control
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2. Remote Control ex. remoto-controlled robot
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Advantages of Control Systems (Cont.) Four primary reasons in control system building
3. Convenience of input form -by changing the form of the input- ex. In temperature control system The position of thermostat is input which yields a desired thermal output (i.e. the output is heat)
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4. Compensation for Disturbances ex. Antenna system must be able to detect the disturbance such as wind force and correct the antenna position.
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temperature control system
1.2 HISTORY -Feedback control systems-
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Human Designed control systems 1. Liquid-level control 2. Steam pressure and temperature control 3. Speed control in steam engine 4. Stability and stabilization 5. 20th century development 6. Contemporary applications
Ktesibios (300BC Greek) water clock
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Edmond Lee (1745) Windmill control
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Watt Governor(19th century England)
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http://www.youtube.com/watch?v=kfQPJ3WRfWo
Watt7s Governor(19th century England)
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Feedback amplifier (1930 USA) Black, Bode, Nyquist
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Optical Disk Recording/Reading System
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1.3 SYSTEM CONFIGURATION
Open-loop system
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The output of an open-loop system is corrupted by two disturbances. The system cannot correct for these disturbances, either
Convert the form of input to that used by the controller
Closed-loop (feed back) system
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The closed-loop system compensate for disturbances by measuring the output response feeding that measurement back (*1) comparing the output transduced response to the input at the summing junction (*2)
*1
*2
Merits of Closed-loop (Feedback) system Able to compensate (correct) disturbance effect Greater accuracy Less-sensitive to noise Disadvantage More complex and more expensive Computer-controlled systems i.e. controller= digital computer time-sharing, software, supervisory function
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1.4 Analysis and Design Objectives
Analysis: process by which a system’s performance is determined
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Design: process by which a system’s performance is created or changed(*) * Change parameters or add additional components to meet the specifications
Three Objectives
1. Transient Response: improve the speed of system
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2. Steady-State Response: accuracy of system, reduce the error
3. Stability : Control system must be stable, reliability
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Stable system
Unstable system
1.5 Design Process - six steps -
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Design Process(Cont.)
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STEP 1. Transform requirements into a physical system: Requirements: the desire to position the antenna and
describe antenna weight and physical dimension. design specifications such as desired transient response and steady-state accuracy
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STEP 2. Draw a functional block diagram: Describe the component parts of systems
Fig. 1.9 (b) Detailed layout of the system
Antenna Azimuth Control (Cont.)
41 Block Diagram
Design Process (Cont.)
42 42
Design Process (Cont.)
STEP 3. Create a Schematic: Schematic diagram represents simplified or symbolic form
Examples)
Antenna Azimuth Control (Cont.)
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Schematic
Design Process (Cont.)
45 45
Design Process (Cont.)
STEP 4. Develop a Mathematical Model (Block diagram)
Design Process (Cont.)
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3. Stablity
STEP 5. Reduce the Block Diagram: Ex.) described by transfer function
STEP 6. Analysis and Design of Control System Evaluated by standard test inputs
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SUMMARY Three primary objectives:
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SUMMARY
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Course Outcome (CO)
►CO1: Illustrate the basic principles of automatic control systems
►CO2: Model electrical, mechanical and electromechanical systems using transfer functions and find equivalent systems.
By the end of this course you should be able to
Course Outcome (CO)
►CO3: Analyze time response and stability of LTI transfer functions
►CO4: Tune controllers’ parameters using via Root Locus.
►CO5: Demonstrate the ability to solve control system problems by selecting appropriate tools in MATLAB.
Modeling in s-domain Ch.2
Time Response Ch. 4
Stability Ch.6 Steady-State
Error Ch.7
Root Locus Method
Ch. 8 & Ch. 9
Model Reduction
Ch.5
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Introduction Ch.1
Modeling in s-domain
Ch.3