Introduction to Control Introduction to Control...

Lecture NotesLecture Notes

Introduction to Control Introduction to Control SystemsSystems

Instructor: Dr. Huynh Thai HoangDepartment of Automatic Control

Faculty of Electrical & Electronics EngineeringHo Chi Minh City University of Technology

Email: [email protected]@yahoo.com

Homepage: www4.hcmut.edu.vn/~hthoang/

9 November 2012 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 1

Thi i b h l i d d i f

Course objectivesCourse objectives

This course is about the analysis and design of control systems with emphasis on modeling, state variable representation computer solutionsvariable representation, computer solutions, modern design principles.

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Ch t 1 I t d ti

Course outlineCourse outline

Chapter 1: Introduction

Chapter 2: Mathematical model of continuous systems

Chapter 3: System dynamics

Chapter 4: Analysis of system stability

Chapter 5: Performances of control systems

Chapter 6: Design of control systems

Chapter 7: Mathematical model of continuous systems

Chapter 8: Analysis of discrete control systems

Chapter 9: Design of discrete control systems


T tb k F kli P ll d E i N i i F db k

TextbookTextbook

Textbook: Franklin, Powell, and Emami-Naeini, FeedbackControl of Dynamic Systems, 6th ed., Prentice Hall, 2009

Reference: Katsuhiko Otaga, Modern Control Engineering, 3rd ed.,

Prentice HallPrentice Hall Farid Golnaraghi and Benjamin C. Kuo, Automatic

Control Systems, 9th ed., 2009, Prentice Hall.Ri h d C D f d R b t H Bi h M d C t l Richard C. Dorf and Robert H. Bishop, Modern ControlSystems, 11th ed, Peason.


Explain the concepts of open-loop and closed-loop control systems

Learning outcomesLearning outcomes Explain the concepts of open loop and closed loop control systems Describe continuous and discrete control systems using transfer function

and state space model Calculate the equivalent transfer function of control systems using block Calculate the equivalent transfer function of control systems using block

diagram and signal flow graph Analyze the dynamics of control systems in time domain and frequency

domaindomain Analyze the stability of control systems Analyze the transient and steady-state performances of control systems Analyze the controllability and observerbility of control systems Analyze the controllability and observerbility of control systems Design lead-lag compensator using root locus and frequency response Design PID controller using frequency response, Zeigler-Nichols method

D i t t f db k t ll i l l t th d Design state feedback controller using pole placement method Use teamwork and comunication skills in collaborating course design

projects

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Use modern software in analysis and design control systems

© H. T. Hoang - www4.hcmut.edu.vn/~hthoang/

Cl ti i ti 10%

GradingGrading

Class participation: 10% Homework: 20% Midterm exam: 20%

Lab: 20% Final exam: 30% Final exam: 30%


How to learn the course???How to learn the course???(*) After 2 weeks we

Reading

( ) After 2 weeks we tend to remember…10% of what we read

Watching a movieLooking at pictures

Hearing words20% of what we hear30% of what we see

S i it d l tiWatching a demostration

Watching a movieLooking at an exhibit50% of what we

see and hearPASSIVE

Participating in a discussionSeeing it done on location

Given a talk70% of whatwe say ACTIVE

Doing a dramatic presentationSimulating the real experience

Doing the real thing

90% of what we sayand do


Doing the real thingand do

(*) Edgar Dale, “Audio-Visual Methods in Teching,” Holt, Rinehart and Winston

Active learningActive learning

“Learning is not a spectator sport. Students do not learn much just by sitting in class listening to teachers, memorizing prepackaged assignments and spitting outmemorizing prepackaged assignments, and spitting out answers. They must talk about what they are learning, write about it relate it to past experiences apply it to their dailyabout it, relate it to past experiences, apply it to their daily lives. They must make what they learn part of themselves.”

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Chickering, A & Gamson, Z. F. (March 1987). Seven principles for good practice. AAHE Bulletin 39: 3-7.


What is active learning?What is active learning?

“Active Learning is, in short, anything that students do in a classroom other than merely passively listening to an instructor's lecture This includes everything from listeninginstructor s lecture. This includes everything from listening practices which help the students to absorb what they hear, to short writing exercises in which students react to lectureto short writing exercises in which students react to lecture material, to complex group exercises in which students apply course material to "real life" situations and/or to new problems. “

Paulson & Faust, California State University, Los Angeles, http://www.calstatela.edu/dept/chem/chem2/Active/index.htm

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http://www.calstatela.edu/dept/chem/chem2/Active/index.htm


Chapter 1Chapter 1

INTRODUCTIONINTRODUCTION

pp

INTRODUCTIONINTRODUCTION


Wh t i t l t ?

TopicsTopics

What is control system? Control principles Components of control systems Components of control systems Examples of control systems Review of complex variables and Laplace transforme e o co p e a ab es a d ap ace t a s o


??What is control system?What is control system?


ExerciseExercise

Find examples of control systems?

13© H. T. Hoang - www4.hcmut.edu.vn/~hthoang/9 November 2012

ExerciseExercise

Explain how a control system works?Explain how a control system works?


Example of a control processExample of a control process

Objective is to keep moving at constant speed. Activities in controlling the car:

1 di l i t1. reading velocimeter2. deciding to increase or decrease speed3. acting on the gas pedal

15

g g p

© H. T. Hoang - www4.hcmut.edu.vn/~hthoang/9 November 2012

Definition of control conceptDefinition of control concept

C t l i th f tti i f tiControl is the process of getting information,processing information and making decision, and

ti t th t th tacting on a system so that the system reponses asdesired.


Control loopControl loop

Desired

+_Car speed

Desired speed

Measured speed

179 November 2012 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/

Components of a control systemComponents of a control system

C(s) G(s)+_R(s) Y(s)E(s)

H(s)H(s)Yfb(s)

Notation:C(s): controller R(s): setpointG( ) l t Y( ) t ll d t tG(s): plant Y(s): controlled outputH(s): sensor Yfb(s): feedback signal

E( ) t l

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E(s): control error


A simple level control systemA simple level control system


Level control system in industryLevel control system in industry

LC

LVLV

LTLiquid tank

LC: Level ControllerLT: Level TransmitterLV L l l


LV: Level valve

Speed control of steam engine Speed control of steam engine

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I d ti it

Why control?Why control?

Increase productivity

Increase quality

Increase economic benefit


PlantsPlants Very diverse Very diverse

Class of systems:

Electrical Electrical

Mechanical

Th l Thermal

Fluid

Ch i t Chemistry

Real systems consist of different kind of basic systems.


SensorsSensors

Temperature sensor Temperature sensor Position sensor

V l it Velocity sensor Accelocity sensor Distant sensor Flow sensor Level sensor Pressure sensor Force sensor Color sensor

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...© H. T. Hoang - www4.hcmut.edu.vn/~hthoang/

ControllersControllers

M h i l ll Mechanical controller

Electrical controller

Analog controller

Digital controllerDigital controller

Microcontroller, DSP based control

Computer based control

Programmable Logic Controller (PLC)


Basic problems in controlBasic problems in control

System Analysis

System Design

System Identification


Control schemesControl schemes


OpenOpen--loop controlloop control

n(t)

Controllery(t)r(t)

Plantu(t)

Feedforward control Control without feedback information


ClosedClosed--loop controlloop control

y(t)r(t) (t)(t)

n(t)

Controllery(t)r(t)

Plantu(t)e(t)

ym(t)

Sensor

Feedback control Need to measure system output


Feedback and feedforward controlFeedback and feedforward control

n(t)FF control

FB controly(t)r(t)

Plante(t)

ym(t)

++

Sensor

ym(t)

This combined control scheme is widely used ini d tindustry


Hierachy controlHierachy control

Decentralized controlDi t ib t d t l Distributed control


Hierachy controlHierachy controlExample: SCADA (Supervisory Control And Data Acquisition)Example: SCADA (Supervisory Control And Data Acquisition)


Beer making processBeer making process

Chiết chai


Control system clasificationControl system clasification


Control system classificationControl system classification

C i All i l i h i Continuous system: All signals in the system are continous. Discrete system: There exists discrete signals in the system

Linear system: The system satisfies the superposition Linear system: The system satisfies the superposition principle.Nonlinear system: The system don’t satisfies the y ysuperposition principle.

Time Invariant System: Parameters of the system don’t change over timechange over time. Time Varying System: Parameters of the system change over time.

SISO system: Single Input Single Output systemMIMO system: Multi-Input Multi-Output system


History of control theoryHistory of control theory

Classical control Modern control Intelligent control


Classical controlClassical control

Mathematic models used in analysis and design control Mathematic models used in analysis and design controlsystems are transfer functions.

Features: Simple, easy to understand Advantages: easy to apply to analysis and design SISO

li ti i i t tlinear time – invariant system. Frequency domain techniques.

Analysis and design techniques: Analysis and design techniques: Root locus. Frequency response: Nyquist, Bode.q y p yq ,

Controllers: Lead – lag controllers

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PID (Proportional – Integral – Derivative)


Modern controlModern control

Mathematical model sed in anal sis and design is mainl the Mathematical model used in analysis and design is mainly the state-space equation.

Features: Features: Can be applied to nonlinear systems, time varying

systems, multiple input- multiple output system.y p p p p y Time domain technique

Analysis and design method:Optimal control. Adaptive control. Robust Control

Controller:

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State feedback controller


Intelligent controlIntelligent control

In principle, mathematic models are not required in design intelligent control system.

F t Features: Simulate / emulate biological intelligence system. The controller is capable of processing uncertain The controller is capable of processing uncertain

information, learning, and handling large amounts of data Intelligent control techniques: Intelligent control techniques:

Fuzzy Control Neural NetworksNeural NetworksGenetic Algorithm…


Course objectiveCourse objective

Th F d l f C l S i l The course Fundamental of Control Systems mainly presents the classic method for analysis and design of SISO linear time invariant systems.

The knowledge gained from the course help student to analyze and design control systems at the executive level.


Related coursesRelated courses

T b bl t d i th t l t t th To be able to design the control system at the implementation level, in addition to knowledge of automatic control theory a designer needs to master theautomatic control theory, a designer needs to master the relevant knowledge, such as:Circuits Electronic circuitsCircuits, Electronic circuits Industrial MeasurementDigital system MicroprocessorDigital system, MicroprocessorComputer based control system, ...


Applications of control systemsApplications of control systems


Applications of control theoryApplications of control theory

Feedback control can be found in many applications:Feedback control can be found in many applications: Production system: cement plants, sugar mills, .... Industrial processes: temperature, flow, pressure, speed, ...dust a p ocesses te pe atu e, o , p essu e, speed, Mechatronics: robot arms, computer numerical control

(CNC), ... Information systems Power generation and transmission Transportation s stems cars trains aircraft spacecraft Transportation systems: cars, trains, aircraft, spacecraft, ... Military equipments Measurement Measurement Home appliances: air conditioners, televisions, refrigerators,

washing machines, cameras, rice cookers, ...

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Medical equipments


Temperature controlTemperature control

Temperature control plays an important role in manymanufacturing systems: production of cement, ceramic tiles,pulp and paper rubber and plastic oil and gas food andpulp and paper, rubber and plastic, oil and gas, food andbeverage,…

Cement factory Paper factory


Examples of temperature controlExamples of temperature control

A i lt l d t d i t ( ff h t Agricultural product drying system (coffee, cashew nut,black pepper,…)

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Agricultural product drying system


Block diagram of a temperature control systemBlock diagram of a temperature control system

ControllerPower

amplifierHeaterDifferential

amplifier pamplifier

Measurement


4.7k 4.7kVCC

4.7k 4.7k

Temperature controller and user interfaceTemperature controller and user interface

1k

D6LED 7DOAN1 4 5 7

1kPORTD<6>

Q2

A1015

Q3

A1015PORTD<4> 1k 1k

Q1

A1015PORTD<5>

Q4

A1015PORTD<7>

. . . .

LED_7DOAN4 5 7

VC

C1

AF

VC

C2

VC

C3

VC

C4

G CDO

T

DE B

DOT

238 910 1112 6

AFG CD DE B

G

C

ED

VCCVCC F

AB

D

SW4A

V_sensor

GF

B

VREF+SW4

10k

E

PIC16F877A

234567

3334353637383940

1

RA0/AN0RA1/AN1RA2/AN2/VREF-/CVREFRA3/AN3/VREF+RA4/T0CKI/C1OUT

RB0/INTRB1RB2

RB3/PGMRB4RB5

RB6/PGC

MCLR*/VPPDOT

10k

C

SW5

SW2

SW3

PORTD<5>

10MHz

C16

33p

SW3

SW4

PORTD<6>

PORTD<4>

G

SW1

SW2

7 40

1516171823242526

1920212227282930

1389

RA5/AN4/SS*/C2OUT RB7/PGD

RC0/T1OSO/T1CKIRC1/T1OSI/CCP2RC2/CCP1RC3/SCK/SCLRC4/SDI/SDARC5/SDORC6/TX/CKRC7/RX/DT

RD0/PSP0RD1/PSP1RD2/PSP2RD3/PSP3RD4/PSP4RD5/PSP5RD6/PSP6RD7/PSP7

OSC1/CLKINRE0/RD*/AN5

SW2

SW3

PORTC<2>

PORTD<7>


10MHzCRYSTAL

VCC SW1

C17

33p

SW114

3211

3112

910

OSC2/CLKOUT

VDDVDD

VSSVSS

RE1/WR*/AN6RE2/CS*/AN7

Temperature measurement using thermocoupleTemperature measurement using thermocouple

5V

U27 1

5V

5VU1

LM35

1VC

C

2C1

10uF

-

+

OP07

3

26

4 8

5 5V 5

352

GN

D

VOUT

V V2 R1

25k

0

0

-5V

-

+

U4

OP07

3

26

7 1

5V 5V

-

+

U5

OP07

3

26

7 1

R5 PA0/ADC0

3G

V3 Vout

OP07

4 85V

R6R2J1Thermo couple

1 +

U3

36

7 1

OP07

4 8-5V -5VR41.8k

100

V1 R3

C210uF

3.9k1001

-5V

-OP07

26

4 8

V1 R3

100

0


0 00

Power circuitPower circuit

+12V

6

HeaterFUSER3

470

220Vac0Vdc

Q2BTA16

Q1R1

U15MOC3020

1

2

4PORTC<2>Q2SC1815

47k

R2330


An industrial temperature control systemAn industrial temperature control system

Temperature controller

Furnace

9 November 2012 50

Thermocouple


Motor controlMotor control Motors (DC AC) are one of the most common actuators used Motors (DC, AC) are one of the most common actuators used

machinery and manufacturing factory. Three basic control problems: speed control, position control,

torque control


Antenna position controlAntenna position control

Potentiometer

Antenna

(t)

i(t)

Azimuthangleoutput

Desiredazimuth angle

input

o(t)

Differential amplifier

output

PotentiometerMotor

and power amplifier


Analog PID Analog PID control of DC motorcontrol of DC motor


Digital PID control of DC motor Digital PID control of DC motor


An industrial DC motor control systemAn industrial DC motor control system

DC Motor

E dEncoder

DC Driver


Level controlLevel control

f Level control can be found in industrial processes such as food and beverage, waste water treatment,…

Level control, flow control

Sensor:

Level sensor: presure sensor, capacitor sensor, ultra sonicsonic

Flow sensor: ultra sonic


Level control system in industryLevel control system in industry

LC

LVLV

LTLi id t kLiquid tank

LC: Level ControllerLT: Level Transmitter


LV: Level Valve

Pulp concentration controlPulp concentration control


Pitch angle controlPitch angle control


Block diagram of pitch angle control systemBlock diagram of pitch angle control system


CNC diagramCNC diagram


Block diagram of CNC control systemBlock diagram of CNC control system


Distillation ProcessDistillation Process


Steam Steam Power GeneratorPower Generator


Review of complex Review of complex ppvariables and matrix theoryvariables and matrix theory


ReviewReview

C l i bl A di B F db k C t l f Complex variables: Appendix B, Feedback Control ofDynamic Systems, Franklin, Powell, and Emami-Naeini, 6thed Prentice Hall 2009ed., Prentice Hall, 2009

Matrix theory: Appendix C, Feedback Control of DynamicSystems Franklin Powell and Emami Naeini 6th edSystems, Franklin, Powell, and Emami-Naeini, 6th ed.,Prentice Hall, 2009


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