TM 141352 – Introduction to Auto Control
Introduction to System Dynamics and
Automatic Control
Several Questions?
Why modeling ? Engineer to understand dynamic
systems
Why do we need to learn automatic control ?
What are the objectives of learning automatic control ?
Give examples of the applications of automatic control
in real-life !
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TM 141352 – Introduction to Auto Control
Expectations
After you finish this course you should….
Be able to model dynamic systems,
Have a general understanding of the basic concepts
of control systems,
Be able to apply mathematical tools as they relate to
the design of control systems,
Be able to apply the control design techniques to real
world problems.
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TM 141352 – Introduction to Auto Control
Outline
Automatic control in practice
Definition of basic principles system, control,
signal, etc
Classification of control
Fundamental principle of control: feedback
Automatic control
Makes ”impossible” problems solvable
Often called the ”hidden technology”
Central for modern technology companies
Many interesting applications!
A lot of interesting math
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TM 141352 – Introduction to Auto Control
Control examples
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TM 141352 – Introduction to Auto Control
Control examples
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TM 141352 – Introduction to Auto Control
Control examples
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TM 141352 – Introduction to Auto Control
Control examples
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TM 141352 – Introduction to Auto Control
Terminology
Control is a series of actions directed for making a
variable system adheres to a reference value (that
might be either constant or variable).
The desired reference value when performing control
is the desired output variable (that might deviate
from actual output)
Process, as it is used and understood by control
engineers, means the component to be controlled
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TM 141352 – Introduction to Auto Control
Controlled variables - these are the variables
which quantify the performance or quality of the
final product, which are also called output variables.
Manipulated variables - these input variables are
adjusted dynamically to keep the controlled
variables at their set-points.
Disturbance variables - these are also called
"load" variables and represent input variables that
can cause the controlled variables to deviate from
their respective set points.
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TM 141352 – Introduction to Auto Control
System is any collection of interaction elements for which
there are cause and effect relationships among the variables.
What is a dynamic system ?
What is a static system ?
relation between outputs
and inputs
Control systems consists of subsystems and processes (plants)
assembled for the purposes of controlling the output of the
processes
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TM 141352 – Introduction to Auto Control
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TM 141352 – Introduction to Auto Control
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TM 141352 – Introduction to Auto Control
Control examples
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TM 141352 – Introduction to Auto Control
Types of Control Systems
Position/Speed
Pressure
Flow
Temperature
Liquid-Level
Moisture
Strain
Part Quality
Surface Appearance
and many others
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TM 141352 – Introduction to Auto Control
Controls are classified with respect to:
technique involved to perform control (i.e.
human/machines):
manual/automatic control
time dependence of output variable (i.e.
constant/changing):
regulator/servo,
(also known as regulating/tracking control)
fundamental structure of the control (i.e. the information
used for computing the control):
open-loop/feedback control,
(also known as open-loop/closed-loop control)
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TM 141352 – Introduction to Auto Control
Manual/Automatic Controls - Examples
A system that involves:
a person controlling a
machine is called
manual control.
machines only is called
a automatic control.
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TM 141352 – Introduction to Auto Control
Servo/Regulator Controls - Examples
An automatic control system designed to:
follow a changing reference is called
tracking control or a servo.
Ex: Remote control car
to force some parameter to vary in a
specific manner
maintain an output fixed (regardless of the disturbances
present) is called a regulating control or a regulator.
Ex: Cruise control
regulate the value of some quantity
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TM 141352 – Introduction to Auto Control
Open-Loop Control /Feedback control
In an open-loop control, the system does NOT measure
the actual output and there is no correction to make that
output conform to the desired output.
In a closed loop control the system includes a sensor to
measure the output and uses feedback of the sensed
value to influence the control input variable.
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TM 141352 – Introduction to Auto Control
a. Open loop control of speed of turntable, b. block diagram model
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TM 141352 – Introduction to Auto Control
a. Closed-loop control of speed of turntable, b. block diagram model
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TM 141352 – Introduction to Auto Control
Closed loop (feedback) system
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TM 141352 – Introduction to Auto Control
Pros & Cons of Open-Loop Control
Generally simpler than closed-loop control,
Does not require a sensor to measure the output,
Does not, of itself, introduce stability problems;
BUT
Has lower performance than closed-loop to match
the desired output well.
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TM 141352 – Introduction to Auto Control
Problems with Feedback Control
More complex than open-loop
control
May have steady state error
Depends on accuracy with which
you can measure the output
May cause stability problems
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TM 141352 – Introduction to Auto Control
Advantages of Feedback Control
System with well designed feedback control can
respond to unforeseen events.
Eliminates need for human adjustment of control
variable
Reduces human workload
Gives much better performance than it is
possible with open-loop
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TM 141352 – Introduction to Auto Control
Basic element of a closed-loop system
• Comparison unit computes the difference between the desired and
actual output variables measure of the system error
• Control element computes the desired control input variable
• Correction element device that can influence the control input
variable of the process (ak: actuator)
• Process element component whose the output is to be controlled
• Measurement element measures the actual output variable
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TM 141352 – Introduction to Auto Control
Example: Draw and describe the block diagram of the speed control
system of a motorcycle with human driver. Identify the output, input
and measured variables and the control devices.
Solution: Using the speedometer, the driver calculates the difference
between the measured speed and the desired speed. The driver
throttles knob or the brakes as necessary to adjust the speed. If the
current speed is not too much over the desired speed, the driver may
let friction and gravity slow the motorcycle down.
Process
Controller
Actual
Desired + Error Throttle or motorcycle
Motorcycle
speed Driver brakes speed
-
Visual indication Speedometer
of speed
Measurement
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TM 141352 – Introduction to Auto Control
SISO - DC Motor
MIMO – Temp control
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TM 141352 – Introduction to Auto Control
But what is a controller, really?
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TM 141352 – Introduction to Auto Control
Summary of this lecture:
Automatic control is everywhere
We use differential equation to create models of
systems
Feedback system allow better performance than it is
possible with open-loop
We still haven’t achieved perfect control, better
design is needed
Automatic control: “Making things behave as we want”.
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