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FAB30803 CONTROL SYSTEMS

CHAPTER 1
INTRODUCTION

Introduction
Control systems are integral part of modern society.
Example for household:
Water heater, water level in tank, air conditioning.
Example in industry:
CNC machine, robotic arm, boiler, arc furnace.
Example in nature:
Sugar in blood regulation, hand grasping object.
Example in society:
Student learning, economy.
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Control Systems Definition

A control systems consists of subsystems and
processes (or plants) assembled for the purpose of
achieving desired outputs of the processes.
In a simple way, it can be shown as below.

Advantages of Control Systems

With control systems, lift carry people quickly to the
desired floor automatically and stop smoothly at the
right floor.
There are four primary advantages:
Power amplification
Remote control
Convenience of input form
Compensation for disturbances

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History
Ancient Greece [1 300 BC]: water float regulation,
water clock, automatic oil lamp.
17th Century: Cornelis Drebbel temperature control.
18th Century: James Watt flyball speed governor
Late 19th Century to mid 20th Century: Development
of Classical Control Theory
1960s present Modern Control Theory
autopilot, industrial robots, spacecraft, etc.

Control Systems Engineer

Exciting field that is multi-disciplinary.
Position at top level of large project, dealing with
total system performance specifications
subsystem functions
Interconnection of these functions
Interface requirement
Hardware and software design
Test plans and procedures
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Response Characteristics
Figure below shows typical time response of a lift
that undergoes gradual changes as it rises from the
ground floor to the forth floor.

System Configurations
(a) Open-Loop Systems
Input command output and do not correct for
disturbances.
(b) Closed-Loop Systems (Feedback Control)
Compensates for disturbances by measuring the
output response, feeding that measurement back
through feedback path, and comparing that
response to the input at the summing junction.
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System Configurations

Computer-Controlled Systems
Modern control systems use digital computer as
controller or compensator.
Typical configuration is shown below:
Input
A/D

Digital
Controller

Output
D/A

Process

Sensor

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Analysis and Design

Control systems are dynamic: it responds to the
input by going through a transient phase before
settling to the steady-state phase.
Three major objectives are:
Transient Response
Steady-State Response
Stability
Other considerations are cost, system sensitivity (or
robust design)
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Example of Control Systems

Antenna Azimuth
Position control
systems that position
a radio telescope
antenna in search for
extraterrestrial life.

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Example of Control Systems

System concept and layout

Schematic and functional block

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Example of Control Systems

The challenge is how to make the antenna rotate at
the commanded input angle.
Typical response is shown below:

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The Design Process

Success in control engineering depends on making
judicious choices regarding the following:
plant, i.e. the process to be controlled
objectives
sensors
actuators
A control engineer needs to be familiar with the
"physics" of the process under study.

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Objectives
Before designing sensors, actuators or control
architectures, it is important to know the goal, that
is, to formulate the control objectives.
This includes
what does one want to achieve (energy reduction,
yield increase,...)
what variables need to be controlled to achieve
these objectives
what level of performance is necessary (accuracy,
speed,...)

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Sensors and Actuators

Sensors are the eyes of control enabling one to see
what is going on. Indeed, one statement that is
sometimes made about control is: If you can
measure it, you can usually control it.
Once sensors are in place to report on the state of a
process, then the next issue is the ability to affect, or
actuate, the system in order to move the process
from the current state to a desired state
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The Design Process

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Required Knowledge
Plant Modeling
Characteristics of the system to be controlled
Input/output representations for subsystems and
interconnection rules
Analysis
Performance of input/output systems (actual output,
disturbance rejection, robustness)
Stability of feedback systems, including robustness
margins
Controller Design
Controller types
Constructive tools for controller design

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Computer-Aided Design
MATLAB and SIMULINK

SCILAB and SCICOS

LABVIEW

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More Examples
Coordinated control systems for a boiler-generator

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More Examples
(a) Automobile steering
control system.

(b) The driver uses the

difference between the
actual and the desired
direction of travel to
generate a controlled
adjustment of the steering
wheel.

(c) Typical direction-oftravel response.

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More Examples

A three axis control system for

inspecting semiconductor wafers with
a highly sensitive camera.
Each axis can travel in very high
precision.
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More Examples
The Segway

Two-wheeled self-balancing
battery powered electric
vehicle.
Objective: balancing the
rider while moving and
stopping.
Sensor (feedback):
gyroscopic
Actuator: electric motor
Disturbances: speed
change, rider weight, slope.
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Student Project
DC Motor Speed Control using Labview (2009)
Power Supply

Amplifier

Labview functional block diagram

Encoder

Results Analysis

Motor
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Student Project
Mechatronics AC Servo Drive (2011)

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Student Project
Unipolar Stepper Motor Control with ATMEGA169 (2011)
System Concept

Proteus simulation

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Summary
Control systems has input, process and output.
Control systems can be closed-loop or open-loop.
Control systems analysis and design focuses on
Producing desired transient response
Reducing steady-state error
Achieving stability

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