Control Systems

Speed
Motion
profile

Micro-processor control system Time

 Control Systems in early days

Fly ball governor

James watt
(speed increases,
Steam
Steam valve closes)
valve
 Telephone line
Input- Voltage Voltage

Control System
Amplifier

Output-Rotated angle Voltage

 Telephone line amplification problem

With the amplification, noise gets increased and increased…

 Input Output
(a) voltage Amplifier voltage
gain

Input Output
(b) voltage Amplifier voltage
+ gain
_

Attenuator
circuit
 Open Loop control system
Reference Actuating Controlled
input signal variable
(a)
Controller Process

Closed Loop control system

Reference Actuating Controlled

input signal variable
(b) Controller Process
+
-

Feedback
gain
 Electrical System

R1 L1 L2
i2
 i1


C ec (t ) R2
e(t ) 


di1 (t ) di2 (t )
e(t ) - ec (t ) = R1i1 (t ) + L1 ec (t ) = R2i2 (t ) + L2
dt dt
dec (t )
i1 (t ) - i2 (t ) = C1
dt
Linear Motions
yt 

d 2 y (t )
f t  f (t ) = M
dt 2
M

Force mass system

yt 
K
f (t ) = Ky (t )
f t 

Force spring system

 yt 

dy (t )
f (t ) = B
f t  dt

Dashpot for viscous friction

yt 
K
f t 
M

B
d 2 y (t ) dy (t )
f (t ) = M 2 +B + Ky (t )
dt dt
 Rotary Motion

K
d
 B
dt
J
M

T t  T t  K B
d
2
J
dt 2

d 2θ (t ) dθ (t )
T (t ) = J 2 +B + Kθ (t )
dt dt
 Hydraulic Resistance Changes in pipe
diameter

P1 P2

valve

There exists a difference of pressure

p1 (t ) - p2 (t ) = Rq(t )
Hydraulic Capacitance

q1 (t )

h(t )
Tank
q2 (t )

dh(t )
q1 (t ) - q2 (t ) = A
dt
 Hydraulic Inertance
To accelerate a
fluid and so increase
F2 = p2 A F1 = p1 A
its velocity a force is
required
F1 (t ) - F2 (t ) = F = ma
dq(t )
p1 (t ) - p2 (t ) = I
dt

Pneumatic Systems
dm(t )
p1 (t ) - p2 (t ) = Rn
dt
dσ (t )V (t )
m 1 (t ) - m 2 (t ) =
dt
 Ex 1.4

q(t )

R1
h1 (t ) Tank 1

q1 (t )

h2 (t ) R2
Tank 2
Fig, 1.9
q2 (t )
Mathematical Equations

h1 (t ) = R1q1 (t )

h2 (t ) = R2 q2 (t )

dh1 (t )
q(t ) - q1 (t ) = A1
dt

dh2 (t )
q1 (t ) - q2 (t ) = A2
dt
 Block Diagram and Block Diagram Algebra
y=kx
1. x y=kx
k

y = x1 + x2
2.
x1 y
+

+
x2
 y = x1 - x2
3.

x1 y
+

-
x2

4. y y

y
 Block Diagram Algebra

G1 G2 = G2G1

x G1x G2G1x

x G2x
G2
 G2x+G1x
G1 = G1  G2

x G1x
 G(x+y) Gx+Gy
x x+y x Gx
G = G
 
 
Gy
G
y

x+y/G
Gx Gx+y x Gx+y
x = G
G
 
 
y/G
1
y G

y
x x x Gx
G Gx = G
Gx
x

Gx G

Gx

x Gx Gx
G
=
x Gx
G

x
1/ G

x
 x-Hy G(x-Hy)
x y G
G =

 1  GH

Hy
H

y = G( x - Hy)
y = Gx - GHy
y + GHy = Gx
y(1 + GH ) = Gx
y G
=
x 1 + GH
 Tute1-Question 1 Ex 2 Simplify the block diagram
G3


G1 G2
 

H1

G3


G1 G2
 

G2
H1
 G1 G2 + G3


G2 H1

G3


G1 G2
 

G2
H1
 G1 G2 + G3


G2 H1

G1
1 + G1G2 H1 G2 + G3

G1 (G2 + G3 )
1 + G1G2 H1
 Ex 1.5 G3


G1 G2
   
  
H1 H2

H3
 Note: Ex 1.5 G3

G1 
G2
 1 + G1H1  
 
H2

H3
 Ex 1.5 G3
1/ G2 
G1
 1 + G1H1 G2
 
 
H2

H3
 Ex 1.5

G1 G2 G2 + G3
 1 + G1H1 1 + G2 H 2 G2


H3
 Ex 1.5
G1 (G2 + G3 )
 (1 + G1H1 )(1 + G2 H 2 )


H3

G1 (G2 + G3 )
(1 + G1H1 )(1 + G2 H 2 ) + G1H 3 (1 + G2G3 )
END