2013 University of the West of England

02/12/2013

UWE Bristol
Industrial Control
UFMF6W-20-2

Control Systems Engineering

UFMEUY-20-3

Lecture 1: Introduction to Control

Teaching
! Course structure:
! 1 hour lecture + 2 hour tutorial per week ! Two modules, co-taught (assessments are different) ! 14 weeks control (Ben Drew & Neil Larsen) ! 6 weeks sensors and actuators (Sabir Ghauri)

! Tutorials:
! 1st Semester: Classroom examples/problems ! Tutorial Sheets on Blackboard (and solutions) ! 2nd Semester: Laboratory (Simulink, DC motor control + sensors and actuators)

! Lecture videos

 2013 University of the West of England

02/12/2013

Assessment
! 1 coursework laboratory report (40%)
! Group report

! Exam after Easter Break (60%) ! Reading list:

! The Art of Control Engineering, Ken Dutton, Steve Thompson, Bill Barraclough ! Control Engineering, W. Bolton ! Control Systems Engineering, N.S. Nise ! Aircraft Control and Simulation, B.L. Stevens & F.L. Lewis

Aims and Objectives

! Control
! System modelling ! Transfer functions ! System performance ! System frequency response ! System identification ! Controller design

! Sensors and Actuators

 2013 University of the West of England

02/12/2013

Todays 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
External temperature Sun, Illness, etc. !"#$% Body temperature

Sweat/shiver &'(")%

 2013 University of the West of England

02/12/2013

Introduction to Control
! Applications in:
! Physiology ! Economics ! Many fields of engineering:
! Hydraulics ! Electronics ! Mechanics ! Etc.

Simple Examples
! Car speed
Desired speed *+,"-./% 0)12)/% 3/+2'./% Actual speed

! Room fan
Desired cooling 4526'+% Electrical power

System or Plant 78..%98)% Actual cooling

Controller

 2013 University of the West of England

02/12/2013

Examples
! Control systems are required in complex machines, devices
! Aircraft control systems ! Anti-lock braking systems ! Manufacturing processes

Examples
! Inverted Pendulum
! Demo

! Videos
! http://tinyurl.com/uwetriple ! http://tinyurl.com/uweballrobot ! http://tinyurl.com/uwebigdog ! http://tinyurl.com/uwekestrel

 2013 University of the West of England

02/12/2013

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
Battery Speed Turntable Speed setting
;")6,".%:/A2'/%

:;%&<=.2>/,%

DC motor

&'6?86",%

B,"'/CC%

Desired speed (voltage)

&<=.2>/,%

:;%<"6",%

*?,)68@./%

Actual speed

 2013 University of the West of England

02/12/2013

Open and Closed Loop Control

! Closed Loop
Battery Speed Turntable Speed setting + :;%&<=.2>/,% DC motor Tachometer Desired speed (voltage) +
;")6,".%:/A2'/% &'6?86",% B,"'/CC%

Error

&<=.2>/,%

:;%<"6",%
4/)C",%

*?,)68@./%

Actual speed

Measured speed (voltage)

*8'+"</6/,%

Open and Closed Loop Control

! Cruise control example
! Closed loop
Desired + speed Feedback Error *+,"-./% 0)12)/% 3/+2'./% Actual speed

4=//#%C/)C",%

! Output compared to the input ! Error is used to drive the system

 2013 University of the West of England

02/12/2013

Open and Closed Loop Control

! Oven example
! Closed loop
+ Desired temperature Error 4526'+% Electrical power D/8()1%/./</)6% Actual temperature

Feedback

*/<=/,86?,/% C/)C",%

! 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 ;")6,"../,% B.8)6% output

! ! ! !

4/)C",% feedback 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

 2013 University of the West of England

02/12/2013

Control System Design

! Understand the general schemes that can be used to control a system. ! Understand the system youre 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 required 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.

 2013 University of the West of England

02/12/2013

System Modelling
! Dynamic behaviour of the system ! Linear or non-linear fashion ! System dynamics how its output changes in response to a particular input

Example
! Furnace
F Fuel flow rate (kg/s) E?,)8'/% ! Temp (deg C)

! 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

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 2013 University of the West of England

02/12/2013

Example models
! Liquid level tank ! RC circuit ! Car suspension

Example 1: Liquid Level

! Flow in Flow out = rate of accumulation of liquid in the tank
C/S area = A assume Qout= kh (k is a constant)

Qin

h Qout

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 2013 University of the West of England

02/12/2013

Example 1: Liquid Level

! Flow in Flow out = rate of accumulation of liquid in the tank
C/S area = A assume Qout= kh (k is a constant)

Qin

h Qout

dh dt dh Qin ! kh = A dt dh Qin = A + kh dt Qin ! Qout = A

First order differential equation

Example 2: RC circuit
! Differential equation that related Vout to Vin

R
Vin

Vout

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 2013 University of the West of England

02/12/2013

Example 2: RC circuit
! Differential equation that related Vout to Vin

R
Vin

C
Vin ! Vout = iR = C Vin = Vout + CR

Vout

Capacitor current : i = C

dv dt

dVout R dt

dVout dt

Example 3: Car Suspension

! Mass/spring/damper system
Fin

m
k
D

xout

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 2013 University of the West of England

02/12/2013

Example 3: Car Suspension

! Mass/spring/damper system
Fin
d 2x dt 2 dx Damping : F = Dv = D dt Spring : F = kx Inertia : F = ma = M

m
k
D

xout

Applying Newton' s Second Law : d 2 xout dx = ! kx ! D + Fin dt 2 dt d 2 xout dx m + D + kx = Fin 2 dt dt m

Todays lecture
! 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 ! Tutorial sheet 1: On blackboard. Determining differential equations for systems

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