Ch1 Introduction&Modeling 1
Transcript of Ch1 Introduction&Modeling 1
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The point is learning,
Learning requires effort.
There are no shortcuts here!
Every time you seek to find a shortcut in learning, what you are actually
doing is cheating yourself out of a valuable experience.
Information
Source
Class
Lecture, Book, etc.
Input
Learner
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First: Never ever limit yourself to a single source of information
Use multiple sources
Information source
ask an expert
Lecture, Book, etc.
Learner
Information sourceread a book
Information source
read another book
Information source
Internet search
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Secondly: Your use of information sources must be full of life to be fully
effective.
Approach each of your sources with specific questions in mind, with the goal of
finding answers to those questions:
LearnerInformation sourceread a book
Information sourceread another book
Information source
Internet search
Query
Query
Query
Query
Information source
ask an expert
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Thirdly: Apply what you collect from your sources.
Don't just let that information lie idle in your brain put it into immediate action.
This is where you begin to constructyour own understanding:
output
ApplicationWrite in your own words
ApplicationDescribe what U learn
Application
Teach your friend
ApplicationBuild something
ApplicationPractice, practice, practice
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Lastly: Treat the results of your application as another source of information,
querying and learning from these efforts as though they were primary sources
(like experts or books). This last step establishes a feedback loop, enabling the
learner to self-correct errors in understanding:
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Attendance and Expectations
Attendance in class is Mandatory
Class Etiquette:
(1) Dont read other inappropriate materials in the class
(2) Dont talk to anyone other than the instructor
(3) Dont arrive late
(4) Dont do work unrelated to this class
(5) Dont sleep in class
(8) Dont let cell phones ring
(9) Dont violate Air University Code of Student Conduct
or leave early
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Name : Fida Muhammad
Retired as Group Capt from PAF (25 Aug,2009) [email protected] [U can send subject related questions]
Ph D : Michigan State University USA
MS : Brunel University England
BE : UET - Peshawar
Belongs : Malakand Agency Village Dargai Mobile: 03348910933 (class senior can call/talk, rest send
SMS regarding subject related questions)
Instructor
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EE-.
CONTROL SYSTEMS
Lecture No 1
Electr ical Engineer ing Department
Text Book: Chapter 1
Page No: 1-10 & 12 - 20
INTRODUCTION TO FEEDBACK
CONTROL SYSTEMS
Instructor: Dr. Fida Muhammad
Class: .
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Course Information
Course Title: CONTROL SYSTEMS
Credit hrs: 3-0-3Lab (yes)
Prerequisites For this Course: Calculus II (Laplace Transforms)
Instructor: Dr.Fida M Khan, Syed Zafar Ali
e-mail :[email protected] :[email protected]
Mini Block 3rd
FloorAcademic Block B, 1st Floor
Text Book:. RAYMOND STEFANI.DESIGN OFFEEDBACKCONTROL SYSTEMS
Reference Book(s): RICHARD C DORFMODERN CONTROLSYSTEMS FRANKLIN, CONTROL SYSTEMS
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Assignments & Lab Reports: The assignments will be submitted
as desired by the instructor. The labs will be conducted as
required for the course.
Pre- Requisite: Calculus II (Laplace Transforms), Machines
Grading Policy:
Quizzes : 10 %
Labs Work : 10 %
MIT : 25 %Assignments : 05%
Project : 10%
Final : 40%
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Lecture Plan:
Week Topic
1 Introduction to Control Systems
2 Mathematical modeling of Mechanical Systems
3 Mathematical modeling of Electrical Systems
4 Block diagram algebra
5 Signal flow graph and Masons gain formula
6 Second order system & control performance parameters
7 Root Locus Analysis
8 Bode Plot Analysis
9 Midterm
10 Nyquist plot
11 Root Locus design
12 Bode based design
13 PID control
14 State space modeling
15 Controllability and Observability
16 Revision
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Subject title: CONTROL SYSTEMS
Book title: DESIGN OF FEEDBACK
CONTROL SYSTEMS
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Goal of This Lecture
(a) Terminology/technology and examples relevant to controls sys
(b) Overview of feedback, explain how feedback control works
(c) Describe how Feedback control is applied
(d) Present basic electronic circuits needed to support control sys.
Very Quickly
ATTENTION PLEASEFor To-Day Only
NO QUESTION DURING PRESENTATION
Date: 26 January, 2010
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Feedback Control Systems
EE ..
A & B
Feedback Control Systems
as the Sensing Organs,Hands andFeet are to the Human Beings
Nowadays, in the automatic/servo systems
the application of Feedback controlled systems along
with Sensors & Transducers are pervasive:
that is it is difficult to find any machine or appliances
that do not have integrated Feedback systems
(Electrical, Mechanical or Electromechanical)
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Mechatronics
Industrial Automation
Sensors and Transducers
Electromechanical Systems
Micro Electro Mechanical Systems (MEMS)
Nano Electro Mechanical Systems (NEMS) : Nano Technology
Robotics
Feedback Controls - Pre Requisite (Required) For Subjects
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Controls
Mechanics
Sensors
Electronics
Software
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Air University(Plant)
Students
(Actuator)
Teaching
Activities
(Controller)
Air Un
Environment
Disturbance
Parties, Chit ChatGames, TV, Net
Output
Result
For students in a College, a ???..loop College environment is shown in a
block diagram. This type of system with NO REGULAR check (Feedback) on
the students. If there are no quizzes, home assignments, midterm exams, we
call that system as an (Open Loop / Closed Loop ??)
YearlyExam
Performance
Students
Intake
Example of Open-Loop System i.e without Feedback
Cl d L S t i ith F db k
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Air University
(Plant)
Students
(Actuator)
Teaching
Activities
(Controller)
Air Un
Environment
Disturbance
Parties, Chit Chat
Games, TV, Net
Reference
(Standard)
(Sensor)End & Mid,Terms
Quizes, Labs
Assignments
Output
Result
Controller
+-
For students in a College, a ??? loop College environment is shown in a
block diagram. This type of system is for regular check on the students. If there
are no quizzes, home assignments, midterm exams, we call that system as
an .(Previous slide)
Error
Closed-Loop System i.e with Feedback
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Electro-
Mechanical
What is a Actuator?
Actuator is a device which produce
mechanical energy (output motion) in
response to some type of energy input.
Energy
Electrica
l
Thermal
Fluid
Hydraulic
Pneumatic
Mechanical
Chemical
Actuator Motion
Rotary
Linear
Complex
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What is a sensor?
Measurement
Temperature
Force
Distance
Speed
SensorElectrical
Signals
Types of Sensors
Active.. Need External Power
Passive.. No External Power
Voltage
Sensors are transducers that produce (transform) electrical
energy (signals) as a result of some type of stimulation
(measurement space)
Voltage
Current
Digital
PHOTORESISTOR
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PHOTORESISTOR are simple resistors that altar resistance
depending on the amount of light place
over them. More light means less
resistance.
Photocell
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Photocell
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LIGHT SENSOR
Photo conductive cells
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THE PRESET RESISTOR
Resistance
(insulation)Decrease
with Water
Drops
Reducing PresetResistance willAlarm early (with
few drops).
Changing
preset
resistance
with screw
driver
R
)ttancons(VI
I.VPower
Increase Power
activate relay toenergize Piezo Buzzer
Relay
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Variable reluctance pickup
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Thermistor(Temp range -100 to 275C) It is a type of resistor used
to measure change intemperature
When temperature rises--
resistance decreases
Uses:
Temperature sensing
Temperature control appliances
Characteristics:
Small size -- rapid response
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Main principle of thermocouple: Minimum 2 conductors (like A & B) will form 2 junctions
(like p & q) If junction temperatures (T1 & T2) are equal then nocurrent flows through the circuit
Net emf is a function of:
Material of conductors (A & B) Temperature of junctions (T1 & T2)
Two junctions are always required:1. Hot or measuring junction= sensing unknown temperature
2. Cold or reference junction= fixed at known temperature
Thermocouple
T1 T2
p q
A
B
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In The Next 3-Slides
Air conditionCooling System
is explained
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Compensator+-
Gain=102mV20mV
220V, 50Hz
WAPDA Supply
Reference20mV=200C
Desired
Error=0 volts
150C
200C
0.15 0.2
Volts
Temperature
+
-
200C
Thermistor
Converts
Heat into
voltsAmplifier
(Op-Amp
+
-
+
-
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Compensator+-
Gain=101.5mV15mV
220V, 50Hz
WAPDA Supply
Reference20mV=200C
Desired
Error=+5 v
150C
200C
0.15 0.2
Volts
Temperature
+
-
150C
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Compensator+-
Gain=102.5mV25mV
220V, 50Hz
WAPDA Supply
Reference20mV=200C
Desired
Error= -5 v
150C
200C
0.15 0.2
Volts
Temperature
+
-
250C
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Other Examples of Feedback Control Systems
Human Body Temperature
Car driving
Refrigerator
Air Condition Plant
Car Thermostat system
What do we call this system? Open Loop System
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What do we call this system? Open Loop System
Closed Loop System
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Closed Loop System
Closed Loop
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Below is a system designed to monitor the temperature of a car radiator. When
the radiator temperature becomes too high the voltage from the temperature
sensor and sensor unit changes. The comparator detects this change in voltage
and activates the transducer. The transducer driver provides enough power for
the motor to operate, cooling the car radiator.
Closed Loop
System
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Logic diagram: A micro-switch (pressure pad) as one input device and a dark
sensing circuit as the other. If both inputs ofAND gate are activated - the dark
sensor and the micro-switch - the logic state of the output changes to high andthe motor releases food to the hungry dog.
Examples of control systems: Automobile Steering Control
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Examples of control systems: Automobile Steering Control
System.
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Automobile Radar
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A Control System Disk drive read system.
The variable to control is
the Position of the reader
head.
A closed control Systemcan be applied for this purpose.
Mechanical
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Fly
BY
Wire
More
Electrical
Aircraft
OR
Pilot Input : MechanicalMechanical
Transmission
Output :Mechanical
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Analog Fly By Wire
Pilot Input : Mechanical
Mechanical
Transmission
Output :Mechanical
Mechanical to Hydraulic
Drive (Actuator)
Pilot Input : Mechanical
Mechanical to Electrical
(Potentiometer)
Analog ElectricalTransmission
Analog ElectricalTransmission
Electrical to Hydraulic
Drive (Actuator)
Output :Mechanical
Pilot Input : Mechanical
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Digital Fly By Wire
Pilot Input : Mechanical
Mechanical to
Analog Electrical
(Potentiometer)
Analog Electrical
Transmission
Electrical to Hydraulic
Drive (Actuator)
Output :Mechanical
Digital Electrical
Transmission
Digital Electrical
Transmission
Analog Electrical
Transmission
Complete
Fly By WireBy Using
Electrical
Actuators
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A typical car now has more than
70 sensors
Genesis of the Successful F-16 Fighter/Attack Aircraft Lays inReaction to Severe the World's First Aircraft to be
AerodynamicallyUnstable by Design.
Making Sense Out of Sensors with
feedback !!
Makes F-16 the Most StableAircraft
in the World
New Technologies ???
With Feedback contrpl
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In Short:
Sensors and Transducers are the Eyes and Ears of modern
measurements, instrumentation and control systems
Measured ?
Touch - Environment
Estimation ?
No Way To Touch The Environment
A Sensor with Feedback system is a machines way to See,Hear, and Touch the environment
Magnetic Levitation
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Magnetic Levitation
Trains can magnetically fly over aroadbed with position sustained bysome kind of control system
Magnetic Levitation
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g
Trains can magnetically fly over a roadbed with position
sustained by some kind of control system
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Battery operated Electric vehicle
M/
G
MotorCharger
Series Hybrid Electric Car
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Series Hybrid Electric Car
Run at Their Maximum Efficiency
35% 85%
Input : Mechanical
Power
Transform to
Electrical
Power
Output:
MechanicalPower
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Parallel Hybrid Electric Car
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Series Parallel Hybrid Electric Car
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Automotive applications for by-wire
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By-wire technology lateradapted to automobiles:
throttle-by-wire and brake-by-wire.
Steer-by-wire poses amore significant leap from
conventional automotivesystems and is still severalyears away.
Just as fly-by-wire did to
aircraft, steer-by-wirepromises to significantlyimprove vehicle handlingand driving safety.
Automotive applications for by wire
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Force feedback system
introduction steering system estimationvehicle control conclusion
Lecture Objectives
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Lecture Objectives Introduction to control systems
To familiarize students with open loop and close
loop systems - Done
Why we need mathematical modeling?
To discuss modeling methodology of physicalsystems
To have a visit to control lab
Control Engineering
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Control Engineering
An exciting and a challenging field
It is a multidisciplinary subject
A core course in engineering curriculum
It needs strong mathematical foundation
Basic Concepts
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Basic Concepts This course is concerned with the analysis and design
of closed-loop control systems.
Analysis: given a system, determine its characteristics
or behavior.
Design: specify the desired system characteristics or
behavior, must configure the system so that it exhibits
these desired characteristics.
Closed-loop system: system inputs are functions of
system outputs and vice versa.
setsensorTT
Process (plant) to be controlled:
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Open-loop control system:
Closed-loop control system:
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System Modeling
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System Modeling
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Mathematical Models
Design of engineering systems by trying and errorversus design by using mathematical models.
Physical laws such as Newtons second law of motionis a mathematical model.
Mathematical model gives the mathematical
relationships relating the output of a system to itsinput.
Mathematical Models
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Mathematical Models
Control systems give desired output by controlling
the input. Therefore control systems andmathematical modeling are inter-linked.
System Modeling
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System Modeling
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System Modeling
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System Modeling
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System Modeling
System Modeling
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System Modeling
1.5 Electrical Components (page10)
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System Modeling
1.6 Translational Mechanical Components (page 25)
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p (p g )
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Review Questions
What do u understand from title of this course?
Examples of open loop systems?
Examples of closed loop systems?
Why system modeling is important?
Examples of time variant systems?