Automatic Control

Introduction

Dr. Aly Mousaad Aly

Department of Mechanical Engineering
Faculty of Engineering, Alexandria University

Instructor

Instructor: Dr. Aly Mousaad Aly

Classes and office hours: every Tuesday
Email: aly.mousaad@pua.edu.eg
Teaching assistants:
Eng Khaled Hassib (ME221)
Eng.
Eng. Nermine E. Shehata (EE290)
Eng. Sherif Omar (EE290)

Slides 1: Introduction

Course Materials
Slid Will b
Slides:
be available
il bl online
li .
Text Books: K. Ogata, Modern Control Engineering,
3rd edition, Prentice Hall, 1997.
References:
N. Nise, Control Systems Engineering, John Wiley
& Sons, Inc., 2011.
R.C. Dorff and
d R.H. Bishop,
h
Modern
d
Controll
Systems, 11th ed. Pearson Education Inc., 2008.
Slides 1: Introduction

Grading

Class participation, quizzes and assignments

First midterm exam
Second midterm exam
Final examination

Slides 1: Introduction

Why to study Automatic

Automatic Control
Control??
The study of automatic control is essential for
students pursuing degrees in many engineering
disciplines (mechanical, electrical, structural,
aerospace,
p
biomedical, or chemical).
)
Applications of automatic control include, but not
limited to
to, aircraft
aircraft, robots
robots, civil engineering
structures, process control, ., etc.
Automatic
i controll h
has played
l d a vital
i l role
l iin the
h
advance of engineering and science.
Slides 1: Introduction

What is Control?
Control ?
Make
k some object
bj ((called
ll d system, or plant)
l )
behave as we desire.
Imagine control around you!
Room temperature
p
control
Car driving
Voice volume control
Balance of bank account
C
Control
l ((move)) the
h position
i i off the
h pointer
i
etc.
Slides 1: Introduction

What is Automatic
Automatic Control
Control??
N
Not manual!
l!
Why do we need automatic control?
Convenient (room temperature, laundry machine)
Dangerous (hot/cold places, space, bomb removal)
Impossible for human (nanometer scale precision
positioning, work inside the small space that human
cannott enter,
t huge
h
antennas
t
control,
t l elevator)
l t )
It exists in nature. (human body temperature control)
High efficiency (engine control)
Many examples of automatic control around us
Slides 1: Introduction

Example: temple doors opened by fire

on an altar
Hero (or Heron) of Alexandria (1070 AD)

Slides 1: Introduction

Example: vending machine

Heron's
' COIN
CO automat

Slides 1: Introduction

Example: laundry machine

A laundry machine washes clothes, by setting a
p g
program.
Program setting
(Input)

Laundry
Machine

Washed clothes
(Output)

A laundryy machine does not measure how clean

the clothes become.
C t l without
Control
ith t measuring
i d
devices
i
((sensors)) are
called open-loop control.
Slides 1: Introduction

10

Open loop control systems

Open-loop
Advantages:
Ad
t
Simple construction and ease of maintenance.
There is no stability concern
concern.
Convenient when output is hard to measure or measuring
the output precisely is economically not feasible. (For
example,
l iin the
h washer
h system, iit would
ld b
be quite
i expensive
i
to provide a device to measure the quality of the washer's
output,
p cleanliness of the clothes).
)
Disadvantages:
Disturbances and changes in calibration cause errors, and
th output
the
t t may b
be diff
differentt ffrom what
h t iis d
desired.
i d
Recalibration is necessary from time to time.
Slides 1: Introduction

11

Closed loop (feedback) control

Closed-loop
In this
hi approach,
h the
h quantity
i to b
be controlled,
ll d say
C, is measured, compared with the desired value, R,
and
d th
the error b
between
t
th
the ttwo, E = R - C used
d tto
adjust C. This means that the control action is
somehow dependent on the output
output.

.
Slides 1: Introduction

12

Example: autopilot mechanism

Its purpose is
i to maintain
i i a specified
ifi d
airplane heading, despite atmospheric
changes.
h
It performs
f
thi
this ttaskk b
by
continuously measuring the actual
airplane heading
heading, and automatically
adjusting the airplane control surfaces
(rudder ailerons,
(rudder,
ailerons etc
etc.)) so as to bring
the actual airplane heading into
correspondence with the specified
heading.
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13

Example: antenna azimuth

Slides 1: Introduction

14

Example: antenna azimuth

Slides 1: Introduction

15

Feedback and Feedforward

FFeedback
db k mechanism:
h i
Abilit off a machine
Ability
hi tto
self-correct its operation by using some part of its
output as input
input.
Feedforward mechanism: Ability of a machine to
examine the raw materials that come to it and
then decide what operations to perform. Lettersorting machines in post offices are of this type.
The machine sorts a letter by reading the zip code
on the address and then sending the letter to the
appropriate subsystem
subsystem. (other examples include,
include
metro gate, automatic coin machine, etc.).
Slides 1: Introduction

16

Basic elements of control loop

Ref.

Error
Controller

Actuator

Disturbance
Input
Output
Plant

Sensor

The role of the controller is to make the output

following the reference in a satisfactory
satisfactory manner even
under disturbances.
Slides 1: Introduction

17

Example: playing sport

Better Sensors
Provide better Vision

Better Actuators
Provide more Muscle

Better Control Provides more finesse by combining sensors and

actuators in more intelligent ways

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18

Course goals
Ref.

Error
Controller

Actuator

Disturbance
Input
Output
Plant

Sensor

Implementation
Modeling
Controller

Design
Slides 1: Introduction

Mathematical
model

Analysis

19

Procedure

Slides 1: Introduction

20

Summary
Introduction:
Control essentiality
Examples of control systems
Open loop versus closed loop control systems
Next Lecture:
Laplace Transformation Review

Slides 1: Introduction

21