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SMJE 3153 Control System
Department of ESE, MJIIT, UTM
2014/2015
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Course Outline
►Course Instructors Prof Nozomu Hamada ([email protected])and Dr. Mohd Azizi Abdul Rahman
►Course Web site UTM e-learning site
►Schedule: Week1- 5: Lecture(Hamada) Week6: TEST 1, Week7: Midterm break Week8-10: Lecture by Hamada Week11-14: Lecture by Dr. Azizi Week 15: Test 2, FINAL EXAM
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Course web site
UTM e-learning site ►Check the site often since it will be used to: ▶convey any important announcement about the course ▶distribute course material including Handout, Quiz, homework(HW), Assignments and their solutions ▶etc.
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Course Grading
►TEST 1 = 10 % ►TEST 2 = 10 % ►Two Assignments = 30% ► Final Examination = 50%
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Textbook
N. S. Nise, Control Systems Engineering,
6th Edition, Wiely,2011 ▊ Lectures throughout this course are based on this text. It facilitates your self-study ▊ Way to purchase U & C book distributer, 105RM Order application List Close the list by 9th September Books will be ready within 2 weeks (from Singapore) 5
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Chapter 1
INTRODUCTION
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1.1 INTRODUCTION
Control System Definition
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Control System Definition (Cont.)
Control System consists of SUBSYSTEMs + PROCESS (or PLANTS)
assembled for the purpose of obtaining A DESIRED OUTPUT
with desired PERFORMANCE,
given a SPECIFIED INPUT
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Example: elevator (position control)
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Example: elevator (Cont.)
Specified input: push of the 4th floor button Desired output: step function in Fig.1.2 location at 4th floor level Performance: can be seen from the response curve in Fig. 1.2 measure 1. transient response measure 2. steady-state error
slow response too fast response Passenger comfort vs. Patience
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Example: elevator (Cont.)
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Example: elevator (Cont.)
Elevator as a control system Motor provides the power, and control systems regulate the position and speed
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Example: Antenna Azimuth Control (case study throughout the text)
14 position control system
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Radio Telescope Antenna
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16 potentiometer
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Antenna Azimuth Control (Cont.)
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Antenna Azimuth Control (Cont.)
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Schematic
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Antenna Azimuth Control (Cont.)
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Antenna Azimuth Control (Cont.)
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Commanded position
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Advantages of Control Systems Four primary reasons in control system building
1. Power Amplification ex. antenna azimuth control
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2. Remote Control ex. remoto-controlled robot
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Advantages of Control Systems (Cont.) Four primary reasons in control system building
3. Convenience of input form -by changing the form of the input- ex. In temperature control system The position of thermostat is input which yields a desired thermal output (i.e. the output is heat)
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4. Compensation for Disturbances ex. Antenna system must be able to detect the disturbance such as wind force and correct the antenna position.
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temperature control system
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1.2 HISTORY -Feedback control systems-
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Human Designed control systems 1. Liquid-level control 2. Steam pressure and temperature control 3. Speed control in steam engine 4. Stability and stabilization 5. 20th century development 6. Contemporary applications
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Ktesibios (300BC Greek) water clock
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Edmond Lee (1745) Windmill control
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Watt Governor(19th century England)
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http://www.youtube.com/watch?v=kfQPJ3WRfWo
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Watt7s Governor(19th century England)
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Feedback amplifier (1930 USA) Black, Bode, Nyquist
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Optical Disk Recording/Reading System
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1.3 SYSTEM CONFIGURATION
Open-loop system
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The output of an open-loop system is corrupted by two disturbances. The system cannot correct for these disturbances, either
Convert the form of input to that used by the controller
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Closed-loop (feed back) system
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The closed-loop system compensate for disturbances by measuring the output response feeding that measurement back (*1) comparing the output transduced response to the input at the summing junction (*2)
*1
*2
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Merits of Closed-loop (Feedback) system Able to compensate (correct) disturbance effect Greater accuracy Less-sensitive to noise Disadvantage More complex and more expensive Computer-controlled systems i.e. controller= digital computer time-sharing, software, supervisory function
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1.4 Analysis and Design Objectives
Analysis: process by which a system’s performance is determined
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Design: process by which a system’s performance is created or changed(*) * Change parameters or add additional components to meet the specifications
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Three Objectives
1. Transient Response: improve the speed of system
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2. Steady-State Response: accuracy of system, reduce the error
3. Stability : Control system must be stable, reliability
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Stable system
Unstable system
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1.5 Design Process - six steps -
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Design Process(Cont.)
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STEP 1. Transform requirements into a physical system: Requirements: the desire to position the antenna and
describe antenna weight and physical dimension. design specifications such as desired transient response and steady-state accuracy
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STEP 2. Draw a functional block diagram: Describe the component parts of systems
Fig. 1.9 (b) Detailed layout of the system
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Antenna Azimuth Control (Cont.)
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Design Process (Cont.)
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Design Process (Cont.)
STEP 3. Create a Schematic: Schematic diagram represents simplified or symbolic form
Examples)
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Antenna Azimuth Control (Cont.)
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Schematic
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Design Process (Cont.)
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Design Process (Cont.)
STEP 4. Develop a Mathematical Model (Block diagram)
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Design Process (Cont.)
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3. Stablity
STEP 5. Reduce the Block Diagram: Ex.) described by transfer function
STEP 6. Analysis and Design of Control System Evaluated by standard test inputs
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SUMMARY Three primary objectives:
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SUMMARY
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Course Outcome (CO)
►CO1: Illustrate the basic principles of automatic control systems
►CO2: Model electrical, mechanical and electromechanical systems using transfer functions and find equivalent systems.
By the end of this course you should be able to
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Course Outcome (CO)
►CO3: Analyze time response and stability of LTI transfer functions
►CO4: Tune controllers’ parameters using via Root Locus.
►CO5: Demonstrate the ability to solve control system problems by selecting appropriate tools in MATLAB.
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Modeling in s-domain Ch.2
Time Response Ch. 4
Stability Ch.6 Steady-State
Error Ch.7
Root Locus Method
Ch. 8 & Ch. 9
Model Reduction
Ch.5
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Introduction Ch.1
Modeling in s-domain
Ch.3