Syllabus for System Dynamic Controls

7/23/2019 Syllabus for System Dynamic Controls

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ME4054 System Dynamics and ControlFall 2015

Joshua A. Schultz, Ph.D. 2035 Stephenson HallProfessorAssistant Professor phone: 918-631-3846Mechanical Engineering email: [email protected]

MWF 10-10:50 AMTime & SpaceU9 Keplinger HallLab Sections TTh 2-5 PM1140 Stephenson Hall

Mon 3:15 5:00 PM or by appointment (set up by email).Office Hours

System Dynamics, 4th edition,Bookby Katsuhiko OgataPrentice Hall ISBN: 0-13-142464-9

Objectives

This course introduces students to dynamic modeling of engineer-ing dynamic systems and the fundamentals of classical linear con-trol theory. The focus is formulation of the differential equationsthat describe the behavior of engineering systems that can be ac-

curately described by linear, time invariant models. Students willdevelop an understanding of how the time-domain behavior can beconcisely understood using algebraic functions of the complex vari-able (Laplace domain). This will culminate in the ability to specifydynamic system behavor within reasonable limits by designing anautomatic controller. Upon completing the class, the student willbe able to:

create transfer function models for mechanical, electrical, fluid,and thermal engineering systems from first principles

linearize nonlinear dynamic equations to find a linear timeinvariant approximate model

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predict and characterize the dynamic response of a linear timeinvariant system based on its transfer function model

understand and perform operations on control block diagrams

determine under what circumstances and for what parametervalues a dynamic system will be stable

Choose system parameters that result in favorable perfor-mance.

Design an automatic feedback controller using root locus tech-niques

Design an automatic feedback controller using frequency re-sponse techniques

In keeping with TUs mission, both professors and students shouldExpectationsbe committed to excellence in scholarship. Students should putforth the required effort to learn the material. Attending each classperiod is the absolute minimum expectation. If a student missesa class period for any reason, it is the students responsibility tomake alternative arrangements for learning the material. Althoughperipheral and obscure material will by and large be avoided onassignments and exams, anythingcovered in class or assigned read-ings can be considered fair game on an exam.

Each student is expected to be conversant in the skills and methods

taught in prior courses. Example of topics you should know:

Geometry and Trigonometry including the laws of sinesand cosines, direction cosines, properties of circles and trian-gles, and the most common trig identities.

Complex Numbers

Theory of ordinary differential equations, including Laplacetransforms

Differential and Integral Calculus: computing deriva-

tives and integrals of most elementary functions, propertiesof series and convergence.

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Basic behavior of passive linear circuit elements (re-sistors, capacitors, inductors)

Rigid body dynamics

A background in complex variables, real and complex analysis willallow for deeper understanding of the course material but is notrequired. It is the students responsibility to review material fromprior courses should they find that they are no longer proficient. Asthe material from which this course draws is broad, material fromprior courses will not be reviewed.

Students are encouraged to cultivate skill in effective use of com-puters to solve engineering problems and to confirm engineeringintuition. In particular, Mathworks MatLab will be emphasized,but students will not be penalized who complete the work usingother packages. Students are encouraged to collaborate on assign-ments, but each must turn in his/her own work with the exceptionof lab exercises. Course time will not be devoted to teaching theuse of particular computational tools and software packages; stu-dents should use whatever tools they are most motivated to learnor those with which they are most familiar.

All assignments will be posted and are to be submitted on theHarvey @ The University of Tulsa web system. Students who havedifficulty using the web system should contact the Harvey supportstaff.

Your grade will be calculated using the following weightsGrading

Homework 10 %Hour Exams 30 %Final Exam 30 %Lab Reports 30 %

Letter grades according to the following criterion are guaranteed:

A 100 90B 89 80

C 79 70D 69 60F 59 0

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There will be two in-class 50 minute exams and one comprehensiveExamsfinal exam (Friday, December 11, 9:0011:25 AM). Each ofthe exams will be closed book. Students are allowed a copy of the

Laplace Transform table, as many notes as they can fit on the backside of the table, and a calculator. Cell phones must be turned offand placed out of reach. Anyone caught using a cell phone duringan exam will be dismissed from the exam and receive a grade of F.

A total of four lab exercises will be completed to build proficiency inLab Exercisesfitting and verifying models experimentally and applying automaticcontrollers to real-world engineering systems. Lab exercises willbe conducted in Stephenson 1140 in the lab section for which thestudent is registered. This lab is an integral part of the course;there is not an option to take the course without the lab. Thelab must be taken in the same semester as the course. Studentsmust complete all four lab exercises and submit reports on theirwork according to the instructions in the lab manual. Students willperform the lab exercises in groups.

Homework will be assigned periodically on the ME-4054 HarveyHomeworkwebsite, clearly organized by week. Homework should besubmitted on Harvey by the date and time indicated on the assign-ment. It is the students responsibility to check Harvey for theirassignments. Late homework will be penalized by 2 points perday for the first two days, after which a grade of 0 will be givenfor the assignment. Unless stated otherwise in the assignment, anyclearly legible presentation of the solution, meaning the answer anddocumentation of all steps of reasoning required to obtain the an-swer, (e.g. scan of handwritten notes, clearly commented MatLab.m file, clearly commented C++ code with output) is acceptable.The grader will be permitted to give a grade of 0 to code that con-tains no comments. If a certain software is required to open thefile, it must be software for which TU has a site license, so if youwrite your homework in FORTRAN for instance, submit your codeas plain text.

Academic dishonesty will not be tolerated. Any student engag-AcademicDishonesty ing in cheating on exams, plagiarism, and other forms of academic

dishonesty will be investigated and penalized according to the Col-lege of Engineering & Natural Sciences Academic Misconduct Pol-

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icy(posted on the Harvey website for this class).

Students with disabilities should contact the Center for StudentStudent ServicesAcademic Support to self-identify their needs. The center is lo-

cated in Lorton Hall, room 210. All students should take time tofamiliarize themselves with the services provided by the center forStudent Academic Support, such as tutoring, academics counseling,and skill development. The center also provides confidential con-sultations to all students as well as students with disabilities.

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Class Schedule

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Week Date Lecture no. Topic Chapter Section1 24-Aug 1 Mathematical Review: ODEs LaPlace Trans-

forms, Complex Variables, Polynomials2 2.1,2,5

1 26-Aug 2 LaPlace Transforms, Heaviside and Dirac func-tions

2 2.3,

1 28-Aug 3 Dynamic Models of Electrical Systems 6 6.1,22 31-Aug 4 Dynamic Models of Electrical Systems 6 6.32 2-Sep 5 Dynamic Models of Mechanical Systems 3 3.1,22 4-Sep 6 Dynamic Models of Mechanical Systems 3 3.3,4

3 9-Sep 7 Dynamic Models of Mechanical Systems 3 3.3,43 11-Sep 8 Dynamic Models of Fluid Systems 7 7.1,24 14-Sep 9 Dynamic Models of Fluid Systems 7 7.3,54 16-Sep 10 Dynamic Models of Thermal Systems 7 7.64 18-Sep 11 Dynamic Models of mixed-domain (combined)

systems6 6.5

5 21-Sep 12 Analogous Systems 6 6.45 23-Sep 13 Linearization of Dynamic Models 7 7.45 25-Sep 14 Transfer Functions, poles and zeros 4 4.16 28-Sep 15 Transfer Functions, poles and zeros (cont.) 4 4.1,46 30-Sep 16 Block diagrams, block diagram operations 10 10.26 2-Oct 17 Finding transfer functions by block diagram re-

duction4 4.2

7 5-Oct 18 Partial Fraction Expansions, response to initialconditions

4 4.3

7 7-Oct 19 Exam I7 9-Oct 20 System Order vs. System type, first and second

order response8 8.1,2

8 12-Oct 21 Pole locations in the complex plane, overdamped,critically damped, underdamped

8 8.3,4

8 14-Oct 22 Frequency domain analysis, sinusoidal steadystate inputs

9 9.1,9,2

8 16-Oct 23 Vibration suppression, resonance 9 9.3-69 19-Oct 24 Introduction to feedback control 10 10.1,39 21-Oct 25 Transient Response, the final value theorem,

steady state error, error constant10 10.4,6

9 23-Oct 26 Transient Response, rise time, settling time, over-shoot

10 10.5

10 26-Oct 27 Stability, the Routh criterion 10 10.710 28-Oct 28 Introduction to the Root Locus Method: Angle

and Magnitude Conditions10 10.8

10 30-Oct 29 Drawing the Root Locus 10 10.8,911 2-Nov 30 Controller Design using the Root Locus Method 10 10.8,911 4-Nov 31 Controller Design using the Root Locus Method

(cont.)10 10.8,10

11 6-Nov 32 Exam II12 9-Nov 33 Introduction to the Frequency Response Method:

Bode Plots11 11.1,2

12 11-Nov 34 Drawing Bode Plots 11 11.2,312 13-Nov 35 Drawing Bode Plots (cont.) 11 11.2,313 16-Nov 36 Nyquist plots, the Nyquist Stability Criterion 11 11.4,513 18-Nov 37 Robustness, gain margin and phase margin 11 11.4,513 20-Nov 38 Controller design using the frequency response

method11 11.6

14 30-Nov 39 Controller design using the frequency responsemethod (cont.)

11 11.6

14 2-Dec 40 Controller design using the frequency responsemethod (cont.)

11 11.6

14 4-Dec 41 The PID Controller, Ziegler-Nichols Tuning Rules 10 10.115 7-Dec 42 Review

11-Dec 9-11:25 AM Final Exam

Syllabus for System Dynamic Controls

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