control? plot 1.input distance to car suspension system from car going up curb (a step) over time....
TRANSCRIPT
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Control?
Plot 1. Input distance to car suspension system from car
going up curb (a step) over time.2. Output distance of driver in the same time.
Time
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Why Use Control?
Achieve the aims of your system efficiently and effectively– track reference
– speed of response
– avoid overshoots
– avoid steady-state errors
Autonomous operation
Avoid disturbances
Understand natural systems
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What is a System?
Environment
System System System
InputsOutputs
Boundary
Systems are built of signals (variables), constants and differential operators
Systems are built of sub-systems!
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Are Systems Perfect?
1. Open eyes:Extend your arms out at shoulder heightTouch the tips of your little fingers in front of
your nose!
2. Close eyes:Extend your arms out at shoulder heightTouch the tips of your little fingers in front of
your nose!
3. Strangeness:Make a circle with your right foot going in the
clockwise position. While you are doing that, draw a six with your
right hand.
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Open v Closed loop
Tutorial questions:
1. Explain the advantages and disadvantages of open loop control.
2. Explain the advantages and disadvantages of closed loop control
(closed loop control is sometimes called feedback control)
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Open v Closed loop
1. Open loop is simple to implement but does not know the actual value of the control variable so is vulnerable to changing the conditions.
2. Closed loop accounts for changes in conditions, but at the expense of increased complexity and can become unstable if care is not taken in its design.
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Feedback
The output signal is fed back to the input signal.
Inputs System Outputs
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As an introduction, consider dynamic systems:
these change with time
As an example consider water system with two tanks
Water will flow from first tank to second
When will it stop following?
Dynamic Systems
IF
L
Stops when levels equal.
Why stop then? Why flow at all?
Plot time response of system….?
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Level change – not instantaneous
• Initially:
Large height difference Large flow L up a lot
• Then:
Height difference less Less flow L increases, but by less
• Later:
Height difference ‘lesser’ Less flow L up, but by less, etc
Graphically we can thus argue the variation of level L and flow F is:
Dynamic Flow
F
tTT
L
t
I
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We have dynamic equation for L in terms of I:
Put into ‘s’ domain to get output over input function:
Add a unit step input for I:
Integrate to determine variation of L
As t gets larger, exponential term disappears, L tends to Input.
Time Response
FI/R
tT
0.37I/R0.63I
T
L
t
I
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We have dynamic equation:
Put into ‘s’ domain and rearrange:
Add a unit step input for I:
Integrate to determine variation of L
As t gets larger, exponential term disappears, L tends to Input.
Time Response
T
t-
e-1L
FI/R
tT
0.37I/R0.63I
T
L
t
I
R*C
LI
dt
dL
R*C
LIsL
IL R*C*sL s R*C1
1
I
L
Rs*C1
11L
s
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Laplace operator ‘s’
Reminder from ENGR201
Know how components behave in an instant of time
Consider differential response
Combine and simplify into standard forms
Integration by lookup table determines long-term response
t domain s domain
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Systems
An engineering system is a set of components connected together to accomplish a useful task
When building up a model system:
• Components should be easily identifiable
• Components should have a simple and clearly defined interaction with other components
• Components numbers should be minimised
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Systems
In order to analyse a system:We identify an input signal
[a variable]Using block diagram components
[Basic block Summing junction Take-off point]
We combine internal signals[modified variables]
To produce the output signal[another variable].
The Input-Output relationship may then be determined
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Car suspension model:
• Mechanical system
Explain what happens when a car goes over a bump?
www.superbike-coach.com
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Car suspension model:
Explain what happens when a car goes over a bump?
x
finput
Simplify to single-input-single-output system
Form individual component models
Determine their relationships (use physical laws!)
Combine (and simplify if possible)
This gives us an instantaneous differential equation, but want a time response!
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Spring
Damper
Mass
Source Nise 2004
tf
tx
tf
tx
tf
tx
Car suspension model:
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Tutorial question
Determine the block diagram for each component?
Source Nise 2004
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Textbooks
Martin Hargreaves, Engineering Systems - Modelling & Control, Longman
Kevin Warwick, An Introduction To Control Systems, World Scientific
N. Nise, Control Systems Engineering 6th Ed., J Wiley & Sons
ISBN 0471366013
+ Ogato + Zak + Dorf and Bishop...
Blackboard