1

Chapter 1
Introduction

Figure 1.1

Simplified description of a control system

Collection of matter, parts, or components which are included inside a specified, often arbitrary boundary

Control Systems
Power amplification; power gain Remote control Convenience of input form (e.g a thermostat controls heat) Compensation for disturbances

Introduction
Understanding of the nature of the real physical world
Observation Insight Instincts of an engineer

Decisions and actions

To create something new which did not exist before To obtain a certain improvement in performance of a system in a short time To seek true optimum

Introduction To plan, analyze, and decide on the course of action for an engineering task

Model physical systems; in a way that can be analyzed; mathematical means, or aid of computers Relatively straightforward, or even routine mathematical step solution to problem Interpret and relate to the real physical world; imagination & intuition

Introduction; steady-state, dynamic New device or system will fail if not dynamic effects are not considered

Transient peak loads Respond quickly enough to changing input Violent oscillations when disturbed Example; Lockheed Electra turboprop airplane; wing and nacelle were studied and tested thoroughly, but not combined; strong enough for gust, hard landing, but flutter plus engine vibration failed the aircrafts

Dynamic effects Discuss examples

Hands arent burnt if briefly in the hot oven Tapping water, water level rises then decreases later Karate Fragile bridge; move slowly? Drooping of a cannon Tacoma narrow bridge

Introduction Modeling & analysis Decision & action

A single flaw in the modeling process can
Negate the results of any subsequent analysis Result in the making of faulty decision at the later stages of an engineering project

System Examples
Throttle Position

V automobile
Automobile speed

Slope of road

Discuss cruiser system ship

Heading

Steering wheel angle

aircraft Short period pitching, phugoid, dutchroll, spiralling instabilities

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Figure 1.8
The search for extraterrestrial life is being carried out with radio antennas like the one pictured here. A radio antenna is an example of a system with position controls.

Peter Menzel.

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Figure 1.9 Antenna azimuth position control system:

a. system concept; b. detailed layout; c. schematic; d. functional block diagram

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Example; Satellite tracking antenna Satellite cant send strong signal (10-6 watt; small amount of energy) Tracking station ; must focus, 30 ft diameter, several tons; closed-loop azimuth, elevation drive systems
Hydraulic servometer Precision gear trains Electronic amplifier Electromechanical transducer

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Example; Satellite tracking antenna Maze of signal wires, power cables, motors, pumps, hydraulic lines, fittings, valves Conditions of varying current, voltage, stress, strain, pressure, flow rate, power level Extensive dynamic system tests; being checked out and debugged that it was literally worn out before it was ready to be shipped

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Control element actuator controller sensor Microprocessor ;Analog circuit Pneumatic, hydraulic Measurement element Information signals (electrical, pneumatic, mechanical, etc) plant

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Control System
Process control Servo systems Performance of the Security reason no loop as a regulator open publications (e.g. disturbance How well the rejection) control system can One-dimensional follow changes in quantities (e.g. 50% the reference or open valve, 90% demand signal flow) Inside the limit, 30 higher?better say 5% off complex

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Review of Basic Mathematics; ex, ln x

Exponential Function e x e x e y = e x+ y , e x / e y = e x y (e x ) y = e xy Inversely of Exponential Function e x ln (xy) = ln x + ln y x ln = ln x ln y y ln (x a ) = a ln x e
ln x ln 1 x

= x, e

ln x

=e

1 = x

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Review of Basic Mathematics

Even Function f(-x) = f(x) Odd Function f(-x) = f(x) sin( x) = sin x, cos(-x) = cos x sin 2 x + cos 2 x = 1 sin (x + y) = sin x cos y + cos x sin y sin (x y) = sin x cos y cos x sin y sin 2x = 2sin x cos x cos (x + y) = cos x cos y sin x sin y cos (x y) = cos x cos y + sin x sin y

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Review of Basic Mathematics

cos 2x = cos 2 x sin 2 x = 1 2 sin 2 x = 2 cos 2 x 1 1 (1 + cos 2 x) 2 1 sin 2 x = (1 cos 2 x) 2 sin x = cos( x - ) = cos ( - x) 2 2 cos x = sin( x + ) = sin ( - x) 2 2 sin ( x) = sin x cos ( x) = cos x cos 2 x = tan x = sin x cos x 1 1 , cot x = , sec x = , csc x = cos x sin x cos x sin x

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Review of Basic Mathematics

1 sin x sin y = [ cos( x + y ) + cos( x y )] 2 1 cos x cos y = [cos( x + y ) + cos( x y )] 2 1 sin x cos y = [sin( x + y ) + sin( x y )] 2 u+v uv Substitute u = x + y, v = x - y, then x = ,y= 2 2 u+v uv sin u + sin v = 2 sin cos 2 2 u+v u v cos u + cos v = 2 cos cos 2 2 u+v u v cos u cos v = 2 sin sin 2 2

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Review of Basic Mathematics

Simplifying A cos x + B sin x C cos( x ) = C cos cos x + C sin sin x = A cos x + B sin x B A = C cos , B = C sin , then C = A2 + B 2 , tan = A A cos x + B sin x = A2 + B 2 cos( x ) also C sin( x ) = C cos sin x C sin cos x = A cos x + B sin x A A = C sin , B = C cos , then C = A2 + B 2 , tan = B A cos x + B sin x = A2 + B 2 sin( x ) C; magnitude, ; phase

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Exercise F(t)=3sin 3t +4cos 3t F(t)=Asin(3t-)=Acos sin3t Asin cos3t Acos =3 Asin =-4 A2=25, A=5 Tan =-4/3, =53.130 F(t)=5sin(3t+53.130)

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Test #1; closed-book, 10 min, 10 points F(t)=2sin t +3cos t Convert to F(t)=Asin(t-); find A and . Convert to F(t)=Acos(t-); find amplitude and phase.

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Review of Basic Mathematics Find solution x of ax2+bx+c=0

b b 2 4ac x= 2a

If ax2+2bx+c=0
2b ( 2b) 2 4ac b b 2 ac x= = 2a a

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exercise x2+3x+5=0 3x2+2x+5=0 x2+4x+5=0 x2-9=0

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Test #2, closed-book, 5 min, 10 pts Find solution of F(x)=2x2+5x+1=0 Find solution of F(x)=2x2+6x+1=0

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Complex Numbers X2+1=0 x=i where i2=-1 X2+4=0, then x=2i, or 2j If z1=x1+iy1, z2=x2+iy2 Then z1+ z2= (x1+ x2)+i(y1 + y2) z1 z2=(x1+iy1)(x2+iy2)=(x1x2 -y1y2) +i(x1y2 +x2y1z) x + iy ( x + iy )( x iy )
z= z=
1

z2

x2 + iy2

( x2 + iy2 )( x2 iy2 )

x1 x2 + y1 y2 x2 y1 x1 y2 + i 2 2 2 2 x2 + y2 x2 + y2

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Polar form of Complex Numbers z=x+iy, lets put x=rcos, y= rsin Then z=r(cos+i sin) Absolute value (modulus) r2=x2+y2 Argument = tan-1(y/x) Example z=1+i
z = 2

arg z = 2n , n = 0,1,2,... 4

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Euler Formula z=x+iy ez =ex+iy= ex eiy= ex (cos y+i sin y) eix =cos x+i sin x | eix |= sqrt(cos2 x+ sin2 x)=1 z=r(cos+i sin)=r ei Find e1+i Find e-3i

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Exercise ei3t=cos3t + isin3t e2+i3= e2ei3 = e2(cos3+isin3) x2+4=0 x=i2,-i2 If a solution y=exp(x), what is y? x2+3x+4=0; what is x? If a solution y=exp(x), what is y?

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Test #3, closed-book, 5 min, 10 pts Find solution of s2+s+1=0, and f(x)=esx; express f(x) using Euler formula

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Differential Equations There are many ways to solve differential equations Try this method if dont have any your favorite method Y+2y=0 Try y=est, then (s+2) est =0 If est =0, y=0 trivial solution The only non-trivial solution s=-2 Y(t)=Ce-2t

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Differential Equations Y+2y=0, y(0)=2 with initial condition As y(t)=Ce-2t y(0)=C=2 Answer y(t)= 2e-2t Y+2y=f(t), y(0)=2 homogeneous + particular solution If f(t)=1,2, or t, t+1, t2.. Try yp(t)=a, at+b or at2+bt+c by matching the order of the polynomial

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First Order Differential Equations If f(t)=sint, 3cost, .. Try yp(t)=asint+bcost and find a,b Example solve y+2y=t+1, y(0)=1 Y(t)= Ce-2t +at+b Put into the equation a+2at+2b=t+1, a=1/2, b=1/4 Y(t)= Ce-2t +1/2 t+1/4 Y(0)= C +1/4=1, C= Y(t)= e-2t + 1/2 t+1/4

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First Order Differential Equations

Example solve y+2y=3sint, y(0)=0 Y(t)= Ce-2t +asint+bcost Put into the equation acost-bsint + 2asint+2bcost = 3sint (2a b3)sint+ (a +2b) cost=0 a=6/(4+2), b= -3/(4+2), Y(t)= Ce-2t +{6/(4+2)} sint {3/(4+2)} cost Y(0)= C 3/(4+2) =0, C= 3/(4+2) Y(t)= 1/(4+2)[3 e-2t +6sint 3cost]

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Test #4, closed-book, 10 min, 10 pts During analyzing a R-C circuit, the following equation came out. Solve the problem I+3I=0, I(0)=1 What is I(t)? Draw a sketch.

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Test #5, closed-book, 10 min, 10 pts During analyzing a R-C circuit, the following equation came out. Solve the problem I+3I=cos t, I(0)=0 What is I(t)? Draw a sketch.

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Constant Coefficient 2nd order ODE Y-2y+10y=0, y(0)=4, y(0)=1 Try y(t)=est, and put into the equation (s2-2s+10) est =0, non-trivial solution is s2-2s+10=0 i3t As s , =1 i3, e =A cos 3t +B sin 3t 1 2 Y(t)=et(C1cos 3t +C2sin 3t) Y(0)=4=C1 Y(t)=et(C1cos 3t +C2sin 3t)+ et(-3C1 sin3t +3C2cos 3t)

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Constant Coefficient 2nd order ODE Y(0)=e0(C1cos 0 +C2sin 0)+ et(-3C1 sin0 +3C2cos 0)=4+3C2=1 C2=-1 Y(t)=et(4cos 3t -sin 3t) Exercise; Y+4y+5y=0, y(0)=1, y(0)=-3

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Test #6, closed-book, 10 min, 10 pts Y-2y+5y=0, y(0)=-3, y(0)=1

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Double Root Y-4y+4y=0, y(0)=3, y(0)=1 Try y(t)=est, and put into the equation (s2-4s+4) est =0, non-trivial solution is s2-4s+4=0 As s1,2=2, double root Y(t)=C1 e2t +C2 te2t Y(0)=3=C1 y(t)=2 C1 e2t +2C2 te2t +C2 e2t Y(0)=1=6+C2 ; Y(t)=3 e2t -5 te2t

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Real Roots Y+y-2y=0. Y(0)=3, y(0)=0 Try y(t)=est, and put into the equation (s2+s-2) est =0, non-trivial solution is s2+s-2=0 As s1,2=1, -2, two real roots Y(t)=C1 et +C2 e-2t Y(0)=3=C1 +C2 y(t)=C1 et -2C2 e-2t Y(0)=1= C1 -2C2

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Real Roots Solving C1 , C2 ; C1 =2, C2 =1 Y(t)=2et +e-2t Exercise Y-2y+y=0. Y(0)=0, y(0)=3 Y-2y+5y=0. Y(0)=-3, y(0)=1

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Test #7, closed-book, 10 min, 10 pts Y-3y+2y=0. Y(0)=-1, y(0)=0

Y-2y+y=0. Y(0)=0, y(0)=3

a. Early elevators were controlled by hand ropes or an elevator operator. Here, a rope is cut to demonstrate the safety brake, an innovation in early elevators; b. Modern Duo-lift elevators make their way up the Grande Arche in Paris, driven by one motor, with each car counterbalancing the other. Today, elevators are fully automatic, using control systems to regulate position and velocity.

Figure 1.2 Elevators

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Photos courtesy of United Technologies Otis Elevator.

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Figure 1.3
Rover was built to work in contaminated areas at Three Mile Island in Middleton, PA, where a nuclear accident occurred in 1979. The remote controlled robots long arm can be seen at the front of the vehicle.
Photo Hank Morgan/Rainbow/PNI.

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Figure 1.4
a. Video laser disc player; b. objective lens reading pits on a laser disc; c. optical path for playback showing tracking mirror rotated by a control system to keep the laser beam positioned on the pits.
(c) Pioneer Electronics, Inc.

(a)

(b)

(c)

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Figure1.5 Elevator input and output

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Figure 1.6
Block diagrams of control systems: a. open-loop system; b. closed-loop system
Greater accuracy, less sensitive to disturbances, but more complex and expensive

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Figure 1.7 Computer hard disk drive, showing disks and read/write head

Courtesy of Quantum Corp.

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High gain; fast but oscillating

Figure 1.10 Response of a position control system showing effect of high and low controller gain on the output response
Control goal; fast reaction, lower overshoot, less settling time

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Figure 1.11 The control system design process

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Figure 1.12 Equivalent block diagram for the antenna azimuth position control system

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Table 1.1 Test waveforms used in control systems

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Figure P1.1

Potentiometer

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Figure P1.2

Aircraft attitude defined

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Figure P1.3

Winder

J. Ayers, 1988.

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Figure P1.4

Control of a nuclear reactor

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Figure P1.5

Grinder system

1997, ASME.

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Figure P1.6

High-speed proportional solenoid valve

1996, ASME.

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Figure P1.7

RL network

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Figure P1.8

RLC network

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Figure P1.9 High-speed rail system showing pantograph and catenary

1997, ASME.