2013 University of the West of England
02/12/2013
UWE Bristol
Industrial Control
UFMF6W-20-2
Control Systems Engineering
UFMEUY-20-3
Lecture 1: Introduction to Control
Teaching
! Course structure:
! 1 hour lecture + 2 hour tutorial per week ! Two modules, co-taught (assessments are different) ! 14 weeks control (Ben Drew & Neil Larsen) ! 6 weeks sensors and actuators (Sabir Ghauri)
! Tutorials:
! 1st Semester: Classroom examples/problems ! Tutorial Sheets on Blackboard (and solutions) ! 2nd Semester: Laboratory (Simulink, DC motor control + sensors and actuators)
! Lecture videos
2013 University of the West of England
02/12/2013
Assessment
! 1 coursework laboratory report (40%)
! Group report
! Exam after Easter Break (60%) ! Reading list:
! The Art of Control Engineering, Ken Dutton, Steve Thompson, Bill Barraclough ! Control Engineering, W. Bolton ! Control Systems Engineering, N.S. Nise ! Aircraft Control and Simulation, B.L. Stevens & F.L. Lewis
Aims and Objectives
! Control
! System modelling ! Transfer functions ! System performance ! System frequency response ! System identification ! Controller design
! Sensors and Actuators
2013 University of the West of England
02/12/2013
Todays Lecture
! ! ! ! ! ! Introduction to Control Examples Control Basics Open- and Closed-loop control Control System Design Steps Example Models
Introduction to Control
! What is a control system? ! Common example in the human body: temperature control
External temperature Sun, Illness, etc. !"#$% Body temperature
Sweat/shiver &'(")%
2013 University of the West of England
02/12/2013
Introduction to Control
! Applications in:
! Physiology ! Economics ! Many fields of engineering:
! Hydraulics ! Electronics ! Mechanics ! Etc.
Simple Examples
! Car speed
Desired speed *+,"-./% 0)12)/% 3/+2'./% Actual speed
! Room fan
Desired cooling 4526'+% Electrical power
System or Plant 78..%98)% Actual cooling
Controller
2013 University of the West of England
02/12/2013
Examples
! Control systems are required in complex machines, devices
! Aircraft control systems ! Anti-lock braking systems ! Manufacturing processes
Examples
! Inverted Pendulum
! Demo
! Videos
! http://tinyurl.com/uwetriple ! http://tinyurl.com/uweballrobot ! http://tinyurl.com/uwebigdog ! http://tinyurl.com/uwekestrel
2013 University of the West of England
02/12/2013
Control Basics
! What is common for all these systems? ! A physical quantity has to be maintained at a fixed value (or series of values) ! What information is necessary?
! What the system needs to do ! How well is the system is doing ! What control action keeps maintains the action
Open and Closed Loop Control
! Open Loop
! Turntable example
Battery Speed Turntable Speed setting
;")6,".%:/A2'/%
:;%&<=.2>/,%
DC motor
&'6?86",%
B,"'/CC%
Desired speed (voltage)
&<=.2>/,%
:;%<"6",%
*?,)68@./%
Actual speed
2013 University of the West of England
02/12/2013
Open and Closed Loop Control
! Closed Loop
Battery Speed Turntable Speed setting + :;%&<=.2>/,% DC motor Tachometer Desired speed (voltage) +
;")6,".%:/A2'/% &'6?86",% B,"'/CC%
Error
&<=.2>/,%
:;%<"6",%
4/)C",%
*?,)68@./%
Actual speed
Measured speed (voltage)
*8'+"</6/,%
Open and Closed Loop Control
! Cruise control example
! Closed loop
Desired + speed Feedback Error *+,"-./% 0)12)/% 3/+2'./% Actual speed
4=//#%C/)C",%
! Output compared to the input ! Error is used to drive the system
2013 University of the West of England
02/12/2013
Open and Closed Loop Control
! Oven example
! Closed loop
+ Desired temperature Error 4526'+% Electrical power D/8()1%/./</)6% Actual temperature
Feedback
*/<=/,86?,/% C/)C",%
! Output compared to the input ! Error is used to drive the system
Open and Closed Loop Control
! Components in a Closed Loop System
demand + error ;")6,"../,% B.8)6% output
! ! ! !
4/)C",% feedback Normally depicted in a block diagram Plant provides the system output Controller takes the control input and provides a control output Sensor takes the output and feeds it to the subtractor (or comparator) that compares the demand (the setpoint value) with the output of the sensor to produce an error All connected by arrows, which represent signals
2013 University of the West of England
02/12/2013
Control System Design
! Understand the general schemes that can be used to control a system. ! Understand the system youre trying to control. You need to predict how a system behaves mathematical techniques that involve differential equation solution
Control System Design Steps
1.! System analysis establish requirements (talk to users) 2.! Formal specification of required system performance 3.! System modelling system must be accurately modelled before controller design can commence. Usually a differential equation (some quantity that changes w.r.t. time) 4.! Control algorithm development the controller is developed using the model and standard control theory to meet the specifications.
2013 University of the West of England
02/12/2013
System Modelling
! Dynamic behaviour of the system ! Linear or non-linear fashion ! System dynamics how its output changes in response to a particular input
Example
! Furnace
F Fuel flow rate (kg/s) E?,)8'/% ! Temp (deg C)
! The temperature of the furnace does not change instantaneously for changes in fuel rate ! Differential equation describes the influence of time on the input response ! Differential equations are derived from first principles
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2013 University of the West of England
02/12/2013
Example models
! Liquid level tank ! RC circuit ! Car suspension
Example 1: Liquid Level
! Flow in Flow out = rate of accumulation of liquid in the tank
C/S area = A assume Qout= kh (k is a constant)
Qin
h Qout
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2013 University of the West of England
02/12/2013
Example 1: Liquid Level
! Flow in Flow out = rate of accumulation of liquid in the tank
C/S area = A assume Qout= kh (k is a constant)
Qin
h Qout
dh dt dh Qin ! kh = A dt dh Qin = A + kh dt Qin ! Qout = A
First order differential equation
Example 2: RC circuit
! Differential equation that related Vout to Vin
R
Vin
Vout
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2013 University of the West of England
02/12/2013
Example 2: RC circuit
! Differential equation that related Vout to Vin
R
Vin
C
Vin ! Vout = iR = C Vin = Vout + CR
Vout
Capacitor current : i = C
dv dt
dVout R dt
dVout dt
Example 3: Car Suspension
! Mass/spring/damper system
Fin
m
k
D
xout
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2013 University of the West of England
02/12/2013
Example 3: Car Suspension
! Mass/spring/damper system
Fin
d 2x dt 2 dx Damping : F = Dv = D dt Spring : F = kx Inertia : F = ma = M
m
k
D
xout
Applying Newton' s Second Law : d 2 xout dx = ! kx ! D + Fin dt 2 dt d 2 xout dx m + D + kx = Fin 2 dt dt m
Todays lecture
! Control is an intrinsic part of humans and a vital part of many engineering systems ! In order to control a system, we need to know the system/plant itself and control methods ! Description of a system to be controlled system model is a starting point of the control system design ! Tutorial sheet 1: On blackboard. Determining differential equations for systems
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