Control Design for Machines and Manufacturing

Professor Walter W. OlsonDepartment of Mechanical, Industrial and Manufacturing Engineering

University of Toledo

Sense

Compute

Actuate

Who Am I?

• Most of you are new students to me… Welcome to my class!

• Professor Walter W. Olson• Graduate of West Point 1973

• Dual Degrees in Physics and EE• MS and PHD Rensselaer

Polytechnic Institute, ME• Retired after 24 Years US Army

• Combat Engineer Commander• Professor, United States Military Academy• Commander, US Army Cold Regions Research and Engineering Laboratory

• Professor• University of Alaska, Fairbanks• Michigan Technological University• Ford Motor Company• University of Toledo• PSG Institute of Technology, Coimbatore, India

Outline of Today’s Lecture

• Course outline• Course Administration

• Book• Policies• Assignments• Academic Dishonesty• Grading

• What is Control?• Sense-Compute-Act

Sense

Compute

Actuate

Course Outline

• Please see the Syllabus• What is Control?• Role of Feedback• Modeling with Differential and Difference Equations• Linear Systems• State feedback designs• Output feedback designs• Frequency domain analysis and design• Stability• Proportional, Integral and Differential (PID) Control Design• Performance Design and Robustness

Course Administration: BOOK

• Book: Online at • http://www.cds.caltech.edu/~murray/amwiki/index.php/

Version_2.10e• recommend that you download it to a file on your computer or

memory stick• You will be required to read this BEFORE coming to class.

• I prefer to teach using the Socratic method: • the role of the Professor is to guide, answer questions regarding the

materials and to clarify “muddy” points• Because of the nature of this course, I will prepare and deliver

lectures BUT• I will frequently ask questions and will award recitation points for

correct answers

Course Administration:Classroom Policies

• Cell phones will be turned off during class. •  • Students are expected to be at class on time.

• Students who know that they will be late should notify the instructor.

•  • There will be no eating or drinking in class.

Course Administration: Assignments

• This is probably the most difficult course material conceptually you will ever take• You will not learn how do control system design without doing

problems• Experience of 20+ years of teaching this has shown that

students who get good grades in this course do all of the homework religiously

• Homework is due on the date shown in the syllabus at the beginning of the class period• Late homework will not be accepted• All pages of an assignment must be stapled at the time

submitted• Neatness counts!

Course Administration:Academic Dishonesty

• Academic dishonesty (cheating, plagiarizing, and related offenses,) will be harshly dealt with.

• Except where explicitly stated, all work is expected to be done individually. • You may ask another student how to do a problem but you must

perform all calculations and state the results based on your individual work.

• You may not compare your work to that of another student. If you do, both you and the student you have compared it with will be cheating.

• Students caught cheating will be dismissed from the course and awarded a failing grade. • There will be no 2nd chance!

Course Administration: Grading

• 10% Classroom Recitation• 20% Homework • 20% Project? • 25% Mid Term Test • 25% Final Test

A >93 A- 90-93

B+ 87-90 B 83-87 B- 80-83

C+ 77-80 C 73-77 C- 70-73

D 65-70 F <65

What is Control?

• Split mu video• Split mu pumping• Split mu with ABS• Split mu with reduced braking

What is Control?

• Control =• Sensing +

• {Where are you at? Is it where you want to be?}

• Computation +• {Can you find a path to where you want to go?}

• Actuation• { Make things happen to get you there!}

What is Control?

• Control =• Sensing

Car beginning yaw Wheel Speeds different

What is Control?

Note: Wheels slow and car begins yaw

What is Control?

• Control =• Sensing + • Computation

Get off the brakes: pump or reduce Reduce braking until speeds match

What is Control?

• Control =• Sensing + • Computation +• Actuation

Note: Control systems solutions are not unique!

What is Control?

Pumping

Reduced BrakesABS

Control

• Control =• Sensing +

• {Where are you at? Is it where you want to be?}

• Computation +• {Can you find a path to where you want to go?}

• Actuation• { Make things happen to get you there!}

Why Controls?

• Why Controls?• Things move• Too many things happening• Things move too fast for the human brain to

compute and for muscles to act• Noise and disturbances• Accuracy and precision• Cost

Where Do You Find Controls?

• Everywhere!

Clips

• DARPA Challenge• Bosh Rexroth• Stuart 9 Engine

Next Class

• Feedback!