DYNAMICS and CONTROL - d37djvu3ytnwxt.cloudfront.net · Module V(I) Control Benefits DYNAMICS and...
Transcript of DYNAMICS and CONTROL - d37djvu3ytnwxt.cloudfront.net · Module V(I) Control Benefits DYNAMICS and...
Module V(I)
Control Benefits
DYNAMICS and CONTROL
Presented by
Pedro AlbertosProfessor of Systems Engineering and Control - UPV
Necessary Control
Module V(I)
Control Benefits
3
Dealing with unstable plants
Accessing to remote processes
Making easy the operators’ work
Getting high performance
Coping with unexpected disturbances
Favouring new applications
Use of Control:
DYNAMICS & CONTROL
Control is Necessary for unstable plants
Control
SYSTEM
Disturbances
Information
Contr
olle
d
vari
able
s
4
DYNAMICS & CONTROL
Automatic Control
Information
CONTROLGoals
Stabilizing
5
Inverted pendulum
DYNAMICS & CONTROL
Stabilizing
5
On a car
DYNAMICS & CONTROL
Stabilizing
5
Flywheel Inverted Pendulum
DYNAMICS & CONTROL
Stabilizing
5
Segway
DYNAMICS & CONTROL
Stabilizing
6
Inverted pendulum
On a car
Segway
http://www.youtube.com/watch?v=AuAZ5zOP0yQ
http://www.youtube.com/watch?v=rmlg5QkusFQ
http://www.youtube.com/watch?v=DDBkg1PfvFY
Youtube videos
DYNAMICS & CONTROL
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GliderSystems being unstable by design
DYNAMICS & CONTROL
7
Glider
Helicopter
Systems being unstable by designDYNAMICS & CONTROL
7
Glider
Helicopter
Passenger aircraft
Systems being unstable by designDYNAMICS & CONTROL
7
Glider
Helicopter
Passenger aircraft
Fighter
Systems being unstable by designDYNAMICS & CONTROL
7
Glider
Helicopter
Passenger aircraft
Fighter
Systems being unstable by designDYNAMICS & CONTROL
The more stable the plant is
the lower performance
can be achieved by control
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Systems being unstable by design
DYNAMICS & CONTROL
Bicycle
8
Systems being unstable by design
DYNAMICS & CONTROL
Bicycle
Aircraft / Outboard boat
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Systems being unstable by design
DYNAMICS & CONTROL
Bicycle
Aircraft / Outboard boat
Mechanical instability
Segway
8
Systems being unstable by design
DYNAMICS & CONTROL
Bicycle
Aircraft / Outboard boat
Mechanical instability
Segway
8
Systems being unstable by design
DYNAMICS & CONTROL
Bicycle
Chemical reactor
Aircraft / Outboard boat
Mechanical instability
Segway
8
Systems being unstable by design
DYNAMICS & CONTROL
Bicycle
Chemical reactor
Aircraft / Outboard boat
Mechanical instability
Segway
A ----> Bk
TT
LT
VC1
Camisa Vj Tj
T(t)VC2
Q0, T
0, C
a0, r
Q , T , Ca, r
Qj0
, Tj0
Qj, T
j
Ca , TA ----> B
k
TT
LT
VC1
Jacket V j Tj
T(t)VC2
, T0, C
a0, r
Q , T , Ca, r
Qj0
, Tj0
Qj, T
j
Ca , T
8
Systems being unstable by design
DYNAMICS & CONTROL
Bicycle
Chemical reactor
Aircraft / Outboard boat
Mechanical instability
Segway
Tele-operation
9
DYNAMICS & CONTROL
Control
SYSTEM
Disturbances
Information
Contr
olle
d
vari
able
s
CONTROL
Network
Tele-operation
9
• Remote guidance
DYNAMICS & CONTROL
Tele-operation
9
• Remote guidance
DYNAMICS & CONTROL
• Guided surgery
Tele-operation
9
• Remote guidance
DYNAMICS & CONTROL
• Guided surgery
• Miniaturization
Servosystems
Local
Process
Tele-operation
9
• Remote guidance
DYNAMICS & CONTROL
• Guided surgery
• Miniaturization
Servosystems
Local
Process
Scaled
Process
10
DYNAMICS & CONTROL
Control Benefits
What have we seen today?
When control is necessary
Why design unstable plants
Remote control not
implementable by humans
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DYNAMICS & CONTROL
Modules:What is next? Examples of systems and signals
Models of systems and signals
Controlled systems: properties
Control systems design
Control benefits
Necessary Control
Performance Improvements
A look at the future
Topics to study
12
Some of the images of this presentation are from the following sources:
• Slide 5-1. Inverted elastic pendulum. By daniel8684. http://www.youtube.com/watch?v=OvqiIgnA39E&noredirect=1
• Slide 5-3 http://pixabay.com/es/segway-scooter-equilibrio-unidad-160537
• Slide 7-1. Image provided by Paul Haliday to has confirmed that he is happy for this image to be used by anybody, anywhere for any purpose provided that www.flightbox.net is credited.
http://en.wikipedia.org/wiki/File:Left_side_of_Flying_Pigeon.jpg
• Slide 7-2. Sky New Helicopter from Westminster Bridge by Peter Clarke http://commons.wikimedia.org/wiki/File:Sky_News_HD_Helicopter.jpg
• Slide 7-3 Image provided by Paul Haliday to has confirmed that he is happy for this image to be used by anybody, anywhere for any purpose provided that www.flightbox.net is credited.
http://commons.wikimedia.org/wiki/File:K21_glider.jpg
• Slide 7-4F-15E Strike Eagle by Cam in Van https://www.flickr.com/photos/righthererightnow/4900357106/lightbox/
• Slide 8 On July 5th, 1950, the first Flying Pigeon bicycle was produced. It was the brainchild of a worker named Huo Baoji. He based his classic model on the 1932 English Raleigh Roadster.
http://en.wikipedia.org/wiki/File:Left_side_of_Flying_Pigeon.jpg
• Slide 9-1 http://commons.wikimedia.org/wiki/File:Sojourner_on_Mars_PIA01122.jpg
• Slide9-2 his Image was released by the United States Navy. http://commons.wikimedia.org/wiki/File:US_Navy_030819-N-9593R-
228_Civilian_technician,_Jose_Araujo_watches_as_a_patient_goes_through_a_Magnetic_Resonance_Imaging,_%28MRI%29_machine.jpg
ATTRIBUTION IMAGES
Module V (I)
Control Benefits
Necessary Control
DYNAMICS and CONTROL
Presented by
Pedro AlbertosProfessor of Systems Engineering and Control - UPV 13
Thank you!