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Lecture01 - Introduction

The document provides an introduction to automatic control engineering, covering key concepts such as system modeling, control basics, and the differences between open-loop and closed-loop control systems. It outlines the steps for control system design and emphasizes the importance of understanding the system dynamics and mathematical modeling. Examples from various fields, including engineering and physiology, illustrate the application of control systems in real-world scenarios.

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2 views

Lecture01 - Introduction

The document provides an introduction to automatic control engineering, covering key concepts such as system modeling, control basics, and the differences between open-loop and closed-loop control systems. It outlines the steps for control system design and emphasizes the importance of understanding the system dynamics and mathematical modeling. Examples from various fields, including engineering and physiology, illustrate the application of control systems in real-world scenarios.

Uploaded by

pluemlxd
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Automatic Control

Engineering
BY CHOOPONG CHUAYPEN
MECHANICAL DEPT., ENGINEERING FACULTY, NARESURN UNIVERSITY
Lecture 1:
Introduction
Aims and Objectives
Control
System modelling
Transfer functions
System performance
System frequency response
System identification
Controller design
Sensors and Actuators
Today’s Lecture
Introduction to Control
Examples
Control Basics
Open- and Closed-loop control
Control System Design Steps
Example Models
Introduction to Control
What is a control system?
Common example in the human body: temperature control

,
Body
/
Action
Introduction to Control
Application in:
Physiology
Economics
Many fields of engineering:
• Hydraulics
• Electronics
• Mechanics
• etc.
Simple Examples
Car speed
Desired speed Actual speed
Throttle Engine Vehicle
Controller
System or Plant
Room fan
Desired cooling Actual cooling
Electrical
Switch power
Wall fan
Example
Control systems are required in complex machines,
devices
Aircraft control systems
Anti-lock braking systems
Manufacturing process
Examples
Inverted Pendulum
https://www.youtube.com/watch?v=855O9x0Pgf0
Videos
https://www.youtube.com/watch?v=cyN-CRNrb3E
https://www.youtube.com/watch?v=bI06lujiD7E
https://www.youtube.com/watch?v=cNZPRsrwumQ&feature=yout
u.be&t=22s
https://www.youtube.com/watch?v=_03F49thJ6s
Control Basics
What is common for all these systems?
A physical quantity has to be maintained at a fixed value
(or series of values).
What information is necessary?
What the system needs to do
How well is the system is doing
What control action keeps maintains the action
Open and Closed Loop Control
Open Loop
Turntable example

Desire Speed Control Device Actuator Process Actual Speed

(Voltage) Amplifier DC Motor Turntable


Open and Closed Loop Control
Closed Loop
Turntable example

Desire Speed
(Voltage) + Error
Control Device Actuator Process Actual Speed

- Amplifier DC Motor Turntable

Measured Speed Sensor

(Voltage) Tachometer
Open and Closed Loop Control
Cruise control example
Closed loop
Desired + Error Actual
Throttle Engine Vehicle
speed
- speed

Feedback
Speed Sensor
Output compared to the input
Error is used to drive the system
Open and Closed Loop Control
Oven example
Closed loop
Desired Electrical Actual
Temperature Error power Temperature
Switch Heating element
+ -
Feedback Temperature
Sensor
Output compared to the input
Error is used to drive the system
Open and Closed Loop Control
Components in a Closed Loop System

Demand + Error Output


Controller Plant
-
Feedback
Sensor
Open and Closed Loop Control
Normally depicted in a block diagram
Plant provides the system output
Controller takes the control input and provides a control
output
Sensor takes the output and feeds it to the subtractor (or
comparator) that compares the demand (the setpoint
value) with the output of the sensor to produce an error
All connected by arrows, which represent signals
Control System Design
Understand the general schemes that can be used to
control a system.
Understand the system you’re trying to control. You need
to predict how a system behaves – mathematical techniques
that involve differential equation solution.
Control System Design Steps
1. System analysis – establish requirements (talk to users)
2. Formal specification of require system performance
3. System modelling – system must be accurately modelled
before controller design can commence. Usually a
differential equation (some quantity that changes w.r.t.
time)
4. Control algorithm development – the controller is
developed using the model and standard control theory
to meet the specifications.
System Modelling
Dynamic behavior of the system
Linear or non-linear fashion
System dynamics – how its output changes in response to
a particular input
Example
Furnace

The temperature of the furnace does not change


instantaneously for changes in fuel rate
Differential equation describes the influence of time on
the input response
Differential equations are derived from first principles
Example
Liquid level tank
RC circuit
Car suspension
Example 1: Liquid Level
Flow in – Flow out = rate of accumulation of liquid in the
tank

𝑑ℎ
𝑄𝑖𝑛 − 𝑄𝑜𝑢𝑡 = 𝐴
𝑑𝑡
𝑑ℎ
𝑄𝑖𝑛 − 𝑘ℎ = 𝐴
𝑑𝑡
𝑑ℎ
𝑄𝑖𝑛 = 𝐴 + 𝑘ℎ
𝑑𝑡
Example 2: RC Circuit
Differential equation that related Vout to Vin

𝑑𝑣
Capacitor current: 𝑖 = 𝐶
𝑑𝑡

𝑑𝑉𝑜𝑢𝑡
𝑉𝑖𝑛 − 𝑉𝑜𝑢𝑡 = 𝑖𝑅 = 𝐶 𝑅
𝑑𝑡
𝑑𝑉𝑜𝑢𝑡
𝑉𝑖𝑛 = 𝑉𝑜𝑢𝑡 + 𝐶𝑅
𝑑𝑡
Example 3: Car Suspension
Mass/spring/damper system 𝑑2 𝑥
Inertia: 𝐹 = 𝑚𝑎 =𝑀 2
𝑑𝑡
𝑑𝑥
Damping: 𝐹 = 𝐷𝑣 =𝐷
𝑑𝑡
Spring: 𝐹 = 𝑘𝑥

Apply Newton’s second law:


𝑑2 𝑥𝑜𝑢𝑡 𝑑𝑥
𝑀 2
= −𝑘𝑥 − 𝐷 + 𝐹𝑖𝑛
𝑑𝑡 𝑑𝑡
𝑑2 𝑥𝑜𝑢𝑡 𝑑𝑥
𝑀 2
+ 𝑘𝑥 + 𝐷 = 𝐹𝑖𝑛
𝑑𝑡 𝑑𝑡
Conclusion
Control is an intrinsic part of humans and a vital part of
many engineering systems
In order to control a system, we need to know the
system/plant itself and control methods
Description of a system to be controlled – system model is
a starting point of the control system design

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