Professional Documents
Culture Documents
2.004 Fall 07
Introductions
Faculty
Prof. George Barbastathis (lectures)
Prof. Franz Hover (labs)
Prof. David Gossard (labs)
Grader
Sebastian Castro
TBA
Administrative Assistant
Ms. Kate Anderson
2.004 Fall 07
System modeling
m
x(t) + bx(t)
+ kx(t) = F (t)
Hardware
Image from the Open Clip Art Library, http://openclipart.org
System dynamics
m
x(t) + bx(t)
+ kx(t) = F (t)
Response
Model
System control
Desired
response
Response
2.004 Fall 07
Systems
r(t)
Input
(stimulus)
System
(aka Plant)
c(t)
Output
(response)
Control Systems
r(t)
Input
desired response
(aka reference)
2.004 Fall 07
Control
System
block diagrams
Lecture 01 Wednesday, Sept. 5
c(t) r(t) ??
Output
actual response
http://www.fas.harvard.edu/~scidemos/NewtonianMechanics/
FlyballGovernor/FlyballGovernor.html
Courtesy Wolfgang Rueckner. Used with permission.
2.004 Fall 07
Please see: Fig. 1.2 in Nise, Norman S. Control Systems Engineering. 4th ed. Hoboken, NJ: John Wiley, 2004.
2.004 Fall 07
http://www.segway.com/img/content/media/product_images/Girli2_high.jpg
http://www.segway.com/img/content/media/product_images/malex2_high.jpg
http://www.segway.com/img/content/media/product_images/airporti2_high.jpg
http://www.segway.com/img/content/models/focus-i2-comm-cargo-man-aisle-lg.jpg
2.004 Fall 07
2.004 Fall 07
2.004 Fall 07
Fig. 1 in Tam, Karman, et al. 1992. Disk drive power control circuit and method.
US Patent 5, 412, 809, filed Nov. 12, 1992, and issued May 2, 1995.
Fig. 3.3 in Workman, Michael L. "Adaptive Proximate Time-Optimal Servomechanisms." PhD thesis, Stanford, 1987.
Fig. 3 in Al Mamun, Abdullah, and Ge, Shuszi Sam. "Precision Control of Hard Disk Drives."
IEEE Control Systems Magazine 25 (August 2005): 14-19.
2.004 Fall 07
Types of control
Regulator
(e.g. flyball governor)
maintains constant output despite disturbances
Compensator
(e.g. elevator)
drive system from an initial to a final state according to
specifications on the transient response
Tracking
(e.g. space robot)
match output to a non-stationary input despite disturbances
Optimal control
(e.g. hard disk drive)
drive system from an initial to a final state while optimizing a
merit function (e.g. minimum time to target or minimum energy
consumption)
Combinations of the above
(e.g. Segway might regulate a constant trajectory or drive a transient
to turn trajectory while minimizing energy consumption)
2.004 Fall 07
Please see: Fig. 1.5 in Nise, Norman S. Control Systems Engineering. 4th ed. Hoboken, NJ: John Wiley, 2004.
2.004 Fall 07
Displacement x [cm]
overshoot
2.004 Fall 07
steady state
OPEN
LOOP
CLOSED
LOOP
Input
or
Reference
Input
or
Reference
Input
transducer
Input
transducer
Controller
Process or
plant
Summing
junction
Error or
Actuating
signal
_
Summing
junction
Controller
Disturbance 2
+
Summing
junction
Output
or
controlled
variable
Summing
junction
Disturbance 1
+
Disturbance 2
Process or
plant
Summing
junction
Output
or
Controlled
variable
Output
transducer
or Sensor
Feedback
2.004 Fall 07
Please see Fig. 1.10 in Nise, Norman S. Control Systems Engineering. 4th ed. Hoboken, NJ: John Wiley, 2004.
2.004 Fall 07
Todays goals
Next lecture (Friday): solving the ODE model for a simple system
of mechanical translation
2.004 Fall 07
f (t)
Mass
Mass
x(t)
x(t)
f(t)
fv
d2 x(t)
M
Mx
(t) = f (t)
dt 2
fv x (t) = f (t)
Coulomb
Component ODE:
drag
Component ODE:
Spring (compliance)
f (t)
x(t)
x(t)
K
f(t)
2.004 Fall 07
Kx(t) = f (t)
Viscous friction
f (t)
x(t)
v(t)
fv
velocity
friction
friction
velocity
x(t)
K
Kx(t)
f(t)
fv x(t)
f(t)
mx(t)
fv
Figure by MIT OpenCourseWare.
Model
Force balance
System ODE
(2nd order ordinary linear differential equation)
Mx
(t) + fv x(t)
+ Kx(t) = f (t)
Equation of motion
Nise Figure 2.15a/2.16a
2.004 Fall 07
Coulomb friction
f (t)
fc
x(t)
v(t)
fc
velocity
friction
friction
velocity
x(t)
K
Kx(t)
f(t)
fcsgn [x(t)]
f(t)
mx(t)
fc
Figure by MIT OpenCourseWare.
Model
Force balance
System ODE
(2nd order ordinary nonlinear differential equation)
Mx
(t) + fc sgn [x(t)]
+ Kx(t) = f (t)
Equation of motion
Nise Figure 2.15a/2.16a (modified)
2.004 Fall 07
(1)
(2)
(3)
If instead the input is replaced by the scaled sum fs (t) = a1 f1 (t) + a2 f2 (t),
where a1 and a2 are complex constants; then the output is the identically scaled
sum xs (t) = a1 x1 (t) + a2 x2 (t). This can be verified directly by adding equations
(2) and (3). A system with this property is called linear.
You should verify for yourselves that massspringdamper systems with
Coulomb or drag friction are nonlinear.
2.004 Fall 07
x(t)
K
f1 (t)
f(t)
mass spring
- viscous damper
x1 (t)
fv
Figure by MIT OpenCourseWare.
f2 (t)
mass spring
- viscous damper
x2 (t)
then
a1 f1 (t) + a2 f2 (t)
mass spring
- viscous damper
2.004 Fall 07
a1 x1 (t) + a2 x2 (t)
Inertia
T (t)
T(t) (t)
(t)
Inertia
Damper (rot.)
viscous
V iscous
damper
T(t) (t)
Coulomb
Component ODE:
Component ODE:
drag
T (t)
Component ODE:
Spring (rot.)
K
(t)
Spring
T(t) (t)
= T (t)
D(t)
= T (t)
Dc sgn[(t)]
Dd (t) (t) = T (t)
2.004 Fall 07
d2 (t)
= T (t)
m(t)
2
dt
K(t) = T (t)
1(t)
N1
N2
r1
r2
Input drive
gear, Gear 1
N1
2(t)
T2(t)
Output driven
gear, Gear 2
N2
N1
N2
Figure by MIT OpenCourseWare.
N1
2 =
1
N2
Question: Why is T1 1 = T2 2 ?
Nise Figure 2.27, 2.28
2.004 Fall 07
T2 =
N2
T1
N1
Gear transformations
T1(t) 1(t)
N1
2(t)
T2(t) =T1(t)
N2
N1
2(t)
J
J2
N2
Let T2 denote the torque applied to the left of the inertia J. The equation of
motion is
J2 + D2 + K2 = T2 ,
T1(t) 2(t)
N2
N1
and
2 = 1
N1
.
N2
Combining, we obtain
" #
" #
"
#
2
2
2
N1
N
N
1
1
J 1 +
D 1 +
K 1 = T 1 .
N2
N2
N2
This is the equation of motion of the equivalent system shown in (c).
Nise Figure 2.29
2.004 Fall 07
( (
N1
N2
( NN (
1
( (
N2
K
N1
J1
D1
2(t)
N2
D2
( ( (t)
N
T1(t) 2
N1
De = D1
( (
N2 2
+ D2
N1
Je
J2
K2
Je = J1
( (
N2 2
+ J2
N1
Ke = K2
Equation of motion:
"
#
#
"
2
2
N1
N1
N2
T1 .
J1 + J2 2 +
D1 + D2 2 + K2 2 =
N2
N2
N1
2.004 Fall 07
Summary
Control systems
regulators, compensators, trackers
open & closed loop
Mechanical system models
Translation
x(t)
f(t)
Mx
(t) + fv x(t)
+ Kx(t) = f (t)
fv
Rotation
(t)
T1(t) (t)
D
J
+ D (t)
+ K(t) = T (t)
J (t)
2.004 Fall 07