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Course Objectives
A
A control system consists
major aplication of subsystems
of the methods anddynamics
of system plants foristhe
thepurpose ofcontrol
design of obtaining a desired
systems.
output with desired performance, given a specified input.
1 2
Basic Components of a Control System
Automobile
Home Heating
Robot : Sensors
: Sensors System
(Optical: (Displacement,speed,force,pressure,temperature,
Sensors
image, (Temperature,
displacement, pressure,torque,
speed,force, fluid flow). Actuators
fluid
pressure flow,
voltage,
(Motors,
fluid
current) . pumps, heat current).
Actuators
level voltage, sources) Actuators
(AC motors, DC motors,(DC
stepmotors,
motors, step motors,
hydroulic pumps, heat
actuators)
sources)
Control systems
Open-loop Closed-loop
control sytems control sytems
1 3
Open Loop Control Systems:
v u
Input Controller Actuator Plant Output
Reference + + u
+ Output
Controller Actuator Plant Sensor
-
Idle-speed control
Washing machine Step motors
T0
T
TB
Heater
Robots
Home heating system Cruise control
1 5
Home Heating Control System T0
TB : Disturbance Control TB
signal T
(heat transfer: door,
window, wall, etc.) Fuel
flow Heater
Valve
TB
VR + Controlller +
+
Plant
Valve Temp. VT
- (Thermostat) Sensor
1 6
Cruise Control System
Usage in 1990’s
Driver comfort
Save fuel
Road
Error Control Fuel conditions Vehicle Measured
signal signal flow speed speed signal
Reference +
+ Actuator + Motor and Speed
Controller Powertrain Speed
(Valf) system Sensor
-
a) Mathematical model (Cruise Control System) : 1 7