- Arvada.» 3 e839 | Corpor Systems ENsineeRing a een sees —=—_e Aree {yi Unit: System Components acters Re PRESENTATION eee Control system: Terminologies & Basic bruchure- Fed Bach. | & Feed Forward contr thas = Electrical and Mectons Block tee oe 5- ae ito ort models yore models- De 4 Ac cos Ato a drtontable contwh spe x —— TINTRODUCTION: . ‘contwl S " deal cwith contnal rtin a cand arg therefore called * Physical Systems | the word “contw!” means to , te dined: or to command: the worl "8 | eombinakion io devices und Compo pe reed eorform a corctoin funckiow This syst ke mye hipeal bintogicl , economic eke) — x al system in deogi devices and Co conmcted ot related So Os bo “command, di os 1a i cupphirccrtiom * °F eg. contek 4 Syskern Tk used to many) me erolure, Vioywid lewd , posikipn , Velocity , flow, ee acceleration etc)Control suster |. Aukomotile Briving system] Senna dw input and tuo controlled 0. xtpubs « inputs ce direction i ard Speed Limit with ean srqra)s Bes canta hep as, pivecte wind +4eysic Cpistuvtanc ) racy fy Spec] Brain Foot Vehicle ead t—> S Ceontrolle’) © [proms)- a Reference tnput: Tt provides input aigral ‘for desired Output ti) Ever aetectey: 1% an cement in wiweh one System VOuabl Sub bacted_ fvom another Vauable to obtatn trard voliable . dhe @uled poe C0 . WY Food back. element: rx | mecaynos the Controtled | th eloment; convert or bhansioms toa Sui Yalu for Comparison with, wef Inpub>. . 4 ‘@ ] 0 Ever sigral: DB ban alberneite SUM 4 Teperonce_ input ound “-Pesclback . } ™ Controller: controller & an element tra b vaywirel bo genorate. the prpriak Control signa). The wortrobls 9 ok wrtliL the cual | bekven controtted) outpur and deaned Output % rediced to cory - PM Cortrolled gunbern> x ig 2 plant, 2 process or amackuw 4 whith a Poecicula Condition 0" bo be controdled - fey. sro heotking system, Spacocsa,py boiler: "ea Chor Wily controlled 9 2b aH Lucod ts ee Sigra) Citas th tp te Outta > Controller: controtted made @oyial by desived output ewobth the Pel

Referone input element Dontel net alarreith [rreontld ecthne Gin Ackuvcbor eloments 2 beter inpeak Cip Controllad 6 elemonts . img eovwy i> feedback elma No contr sig ral fs ph rail a Va? Command “ypuk. = & Classi ication control Si ( en and chose Lvop contol austen, Ci? Lines and non bineasr Condrot system. Cid Tene invariant and Variant centrol Sistem Civ) Continous time £ DeCeke Conbob Sistem M sso & Mime control system cui) Lurnped a potdbulid pararrelon contral system (vi) Dekermindbic & Skechastic contol syter . Wil) Static & Sypreanis control system:| @ open Loop and . closed boop system ) open Loop - : Closed “Toop No feedback Ltted Feedback % Used for compare the desinéd output — and lon lop cade 6 Opt inpule open Cop Sipccern ‘eo closed Loop System> become. stable realy unstable "under toxts i condition sérmple fo develop ancl cheap. Et move “complex . A io cebenmined Complicated to construct and falitrciidh “q thor clement | cui : Atfectad by non lineanitios [Adjust bo effect ren | din i present ih the Slm- ley washing “machine, Axed % "TY rigerakor, Serwo motes| hime Lraffic, yoo hector Ismank AC, genwrator ole. / ci) tinea and non Linear contr ope Th as ° the prindp 4) Sepenposltin Sach nee Teed sro System - me superposition Principle skates that Terponse predend hy Sinn ae applicakion 9 buo dHferent forcing funcki Bun individua) veporses . Tm a $ de not obey Hhe Superpoastson principle bb Called: non Lines suyster : Cid Time pmvantant —ctrd- “Terme Voouy int) control syfen L anameters donot Vara with time. Me syseem : vom en Tg ik © trdependent 4 time ak ushich “inputapplied such a system called “Time dnvaruzund t Alice . ‘ F4 Q Sistem parameters weth bme . The apis iid on time ar whith tiput eorppbied Buch a System called Tire Vaorank systern + @> Space Vehicle control ayntem - where moss clecrcases with time: (Ww Continow bine 2 vhowk control : oy aul system Poramker are funckion o4 Continous time $'. i Called Continow, time Control, System? &4-y Speed control 4 re Mokor . Fy Ee siptem Control involves one &7 move Variable, that cw known o at discoule instants +, time » Called paodk Lime dnb Suter « €q- Ald torwerters , generakexcibation Control system V)81So 2 Mimo: A eusbem with one Cormmand input ancl. one] tontwllal output » oLLed Single mput singe ouput [siso]. ‘ A Syshrn with multiph topub 4 outpub coded Multi Input - Mubh’ out put Cmimo) . ey bile, deuum level, erobot osu control/ [W Hmpel ard onlvuled parameter cot! jhe’ “HH Control System, “deseed tna Pifferontial enuatiom ase va J i ot sh tontrot Gystem — doseribed by partial pifferential eyuakiom ae called disbitbed pasamakon: eq. Bb) C: WY eberministic and Stochaukic Rontrol_aystern> / TE the vespome % predictable cunclrepeatable] % tolled debaminishic: Fy response invale voundom. Vorfclate parameteis Such a systern we Chbod Stochostic Control System. [NP Satie ard oygrarnic. contol syptems- Th present output depends on past input & Called dujnamic ov dime dependent system. rE Present output clopends only on present pub © Colled Stabe ov Lure independent system - —— K oe * } Feed Back 2 feedForwad — tonbol Peony Both —contvol Lechnique f used bo to a the — diskurbance. Tt does not geresally| monte cany Spectaliced cont) thecny - baate a) System Cbyhanies an = Sutfiatent uy Mast Crses-Te does not mel ide Fed Foruasd — strckire - Jone. distustane enter a contro] voouicble to devia: before comective ackitns o- taker) . OF minimize tamient ervwy ' | | ® compensccte diskotans oefose. mena the. Controbled ~ Voouale | Manipatated Worvtabl, to Marhtain desired Controlled Nasuiable . &- Rostden tra Peting Sym See L Dinturbante —[Flow semay] ten oe ae PEM Sry | e: Heat Exchangefoo . ° © Eldarical k- Mechanical “Transfer funckion Medals: Im contwl theo, transfer functions oio_ Commonly used bo Choacterice the “put ~otetpu aelabions| 4, cornponenty ov Si thot coun be tisoubed by liner Hine -LWentank disfeurklal Cy uation: sin pat Pranster k ae ° Gc) ccs)" Transfer, function wy oO Linear Time “Lnveucint Systen] % depinad ox be rakio a tapla ce Transform q the putput ko the Laplace. Lvonsfomn 4 tre in pad ardey he cvsurnpkions trot aU “nihil conditions are wore Gisy nC) | R cs? . Sean initial condibom bee us comider a Lineast, “Tune ‘uvosuteurct Aepinod by following despenontid equation [eoy? + ay aad. Ty 5] = [box + bar. + Hb, je tbe] where nm, : In oukpul 4 slen > Input 4 Sl.“Being Laplace: Tramsformpn both sides , (A0294 AF eas S. 44,)8 44,9 Yes) = Chos™4 bys. bey -\ Stor) X03) « | Tearsfen fundion : Ges) Lkeukpuk) | LCinpuk) | "p wnitie) Condition ° Gres d= yes) _ bos bs = xcs) = + «tbr 13 tom % SP+ ASM 14 —-- 4AnS4an * wang BM concept oe fundkion, W calotate Tore Sustom Enewwing he . Power 4 S th aha 4 er tH) Colculate Prype) sytem by number 4 pen- Loop polos at tre bck i sheets orden 4 pen b> a te _—— x xo 1-The Transfesy Runckion 4 A System % given by Gics) = kere) —————_ + debkwmine SCS429(S+4+5)0S7495412 A) Zeros, (b) poles Cc choracterusbic ean GY) pole~zero Hagan:“Solukion = ) zeros Numeaakor “terms equal Ao zor . S+6=0 [S=-e | Cri) poles Denominatoes tours eayuch do zens - 8 CS#2) C845) CSHASH29 =o ° ScS+2> CSt5) (5+4) Cs43)=0 .\ $= 0,-2,-5/-4 3 | MW tharncterisbic eqaabion. & C8429 C545) (S4%478412)= ° . iz 27 (S495) (8+ 7187419 54594 35 6460) 25 > Bigot 7 S+5stats tt 3683 40 Sa 6oe poshytoSt mst+ ToS an Sy l2oss =| S?+lnst4 4183 +15n8? p90 5 =o | . le — ( Pow -Zer0 Diagram :Me “Moperiing, Or ELectRICNSYSTEM ? ENUF Erection System Restaberr, Inductor, Capacttor Ore the three boaic eloment 4 an electric Sivcuik. Tho ctvcnit anahysed by applidabion q- Rivchhotf Yolkage On) Guesrene hows. on 1 + lono | Element Symbol dean VO faplace ves r . 1D . a iD Rosiskow ws LG KR R xcs) ee j CO rmn— | L-ditty a Induchoy fore aE L$ xcs) | Feey r cc 3. Capacitor Se t fice a de Eces> \ Conmider an electrical system q fC Sentes ctrauk, Find owt ‘wansfer function » > [we Solukion: ect) = L- di, 4Rit {iar —O -Capety kw) Toxcing Laptate Tranmferm on both Sidos - ect) ECS)= isircs>) + Rrcs) tie Ils? - Ecs> = [LstR+ a xcs) —Assurnirg a invial conditions -to be zeno E@=[isan+c [axes Ew) =[Les?+ Res tl Lee ee | oe on |>® het the output Vottage bet) be Aten acsuss the Capacitor, ¢: then, \pto= fide — oO Taking haplit. “foselowm oo ihaby Atlas, e .. rcs ots) = ae Tes) © © “Ranster function given by, Gusr= Vets? _ 195 /ecs) es) [bestest Josip) GtS=- Yocs . _ Eis)” Lestercs +1 Biot Diagram, Representachion:- 1 Eos) Les Rest | Nots Sus) Thi % Second order ¢ Since. tughost fewer gs the denominobort is 2 —xa. Determine the Lraniten function 4 electra] System as shown w Figure - Ain) = Solution + Loop eoyuaion :- Capeky hve) Vib = By deed 4°Ry Coty tb fictodt —O ry haplace swonsform on bokh Sides , \y 2 = By TS + Rates + teres: Wie “(Fi + Ba de} xcs) —@ Otkpuk -eoyuation— Notko= Ag {++ fitch dt —-@ “aus \aplace “ransform on beth sides . +i res). No(s Rate? tes Xes) ow «fates dae oe. Tronster funchion: Mo? . Fate] tf VCS) Payee ok &Jafsyte- Vos) BCstl | Vics) RCS Racs+1 ni B-Obkain the Lransfer function fer elects cal netiygrte. + i + ‘ yD PD \o = Solution: Apply kv bo Lecp a: Wigbd= Rites +b [pices — lock de —O “Oxing Laplace qramform 06 both Sides - Vieso= RIS? +4—-[ res -Zocs> | Vi@ + Ap Tels) = (Ree) rcs) Tics> = [Nics> cs +1905] /of (it 8es] 198 Tis) = Vjesxcs + 25) Ist ReS —S Apel kve to loop a, Ria +2 -Siacbodr + A finces-e}db =o | L@Weg laplae Transform on bath sides , RTem@ + 1 Tg (s+ x [tets>-TyeeJeo - Tats) [R425 +2]- Ts) =o ok cs 26 ( (238°) 1 5,¢s> —@& cs Substituk |4c6> = Ves) ca + Ta08)) Res |” £4 ® becomes, FCs? (23°) . ap) Sa + tots) cs 1 * cs | sRes 7 (s) (72°) = Wes) 4 2ecs> \+ecs cs CittRes) Tp (Ss) \2-+4 Res ) Wes) cs estitacs | = Vares Fats) [ar Res )Ci+Resd—\ | _ Vics) iets addi cs (i4Acs) Acs aecsr= \icsd cs 148805 +R2C7 5? ics) = Decs? [1+3 @es +R Cs] —@) i “ae| Oust pul eoquation- Vocb-. Tekan baplaw Teamfoon , Vo ts = as Tels>}~s@. ASinco de © Trouns fies, Fin chien + Gcs>= Vees) : Oke Yis> Sats >cHarcs+ Pest Me '1AGiesy= Vo . ot oe Vi gs> l4+38cS+R7%25> Clock, Siiigearn Reprres nH V -o tee) Ss) TH+ 3R cst ROS \pesd x x 4H: Obtain Transfe; function ty ‘following ehcbical Nebvovts -Solution = Ste, a tee Baran the cereal ide q eden WW 1—§p} | + fee + Vee f2 2 = Keo | Volt) Apel Votbage divider cule, Vo esd = Wics> @ Ils) (Rilde) + (Fate) Abs) fe fore Vics) Rat SS [ R /Sc, Be /sca + Rrge, Bo + tea] Vets» Ro Re Mics "lates Voces) Rp Veo. = I+ Cas Vices» Ps a = BCH+RCS SICHABESS? FROCHGCS) RB CECESE. A+8 qs) Crt Betas y Fact mcs).Noes= Pa CHSS#12 Vico R, Cl Re C2 > +Ge Cet Beers te { Ge Noes? . Re + Rife oS hava: MA ip Ni) Bit Bp SR Ra Cr FSR BOC B+ Rifacis ; By + Rifas MS? | apes TSH Race t SAFC Noes) hock Diagram Ropresantadion —* ——x Modesthin Mechanical / Nea eli Jo a molim A Mechayycal S4ysten. may either [Mobion take place in straight eae Bee wd be Ww vtalion | Jires] Tp — Forte (Newton) Llp> Toye (nen) olp —> Displacement - (mere) OP > Angulas secre (6): Mass (mM) Ckqp 1 Moment 4 rnentia CT) 2: Spring Uh) (niin) 2 shaft skfenes UK) 3: Vustous friction( B) Coeppicrent - 3: Damper (6) (n +6200. Ships: "rang raplace srransform on bobh Sicles, Fsd= My SxS) + K(X6S9-*/09) + B S (x(S9- XCD) ++ Ba SX CSD, | | Fesde (Mp sy (B25+BS)4k]x so ~Ces+k] x,659 - Substitute x, cs) Value to above equation - FG) = [Mo e? +CB2S 489 tk I xcs> — [Bs +k] ees (884K? 374 Ck HO 18,783 foo|testcenss BS)+k). (aStEY ~ ] 8745, th) CB T8)S x ts) “TRG 522 X68) _ M8740 8 FBS + CKD FCS) Pit s+ (8284 B94) (My Se HOLB\ FO (4 +4) y,% Determine Transes Punction Poy giver 7 (-¥ bint: Tr = yee) Fes) Me Ty, > Solution = Shep 4: Draw . Free b Btagroun q Tass ‘My cn Pee) SEs fr, ' fo, 38 By Newborn, IT low, Fy = fe, + 454 fi + fm, (f° = Ky +B dy +k %-y24+MON | __ a dt Shp 2 Aprly Laplace Treansfowm on both Sides, Fes) = hy yCS9+ 8S ¥15) + K[Yils?- Voces |+me Cs) Fo? = an +BSt+h +19,5° ]¥C5>- Kyoesd - Yies) = Fes) + KY cs) , — sfStepa Draw Fre. . i tos Me" | Sy Sain an betes By Newkors Ir uo { Mohion , fmo4+fn =o me WA 4 (Y0 YY so° le . . seehss Apply Laplace sransform , MaS” Yo (s> +k (Yots>-¥,CS)) =o - [MF RV ~ Ky C8) = (Mo s*4k)y2¢s) ~K( Fos? + KYacs> M974 BS 4K, 4K) 2 Ya (s) |MeS4k —k 1 RSS MsuBstkitk | ~ 7 3 M) 24 as+ TIS Tras funckion (tte Ere & _ Cenem Ges=YeCS> we FES (Mp s*4R) (Mys* 4 BSaKIK) ~K™ x xF ws « “@ Deteiming + dens) Loortiog ction for. Shown Figue., v. tha system | _ fee ye tee oe TT = Solution i pow Qe xy be tre displacerrort od 4 Span asd Gashpot. Hence hos tun nodes, row M & meckirg Point 4 ny . Diagram be comes » pore? arte Ba 7777p, Slop 4 ree Body Bagram 4 moss | M= pont fe feo aes, o=f, +faa O= Kx r+ Ba, dOnt =x (bY) ° (Bags +k) x) CS) ~BgSxts2 = 0 - “eked Ltee ea bx > Fea—Veq [of —, —~£cte) By Newkons ar how, mohinn Let r= fy ate tfea fty- Md?x Bo d&—x1) aes + Bde + PASTY. “aking taplaw Tranter on both Suttos , Ms? x ce>4 Bsxced-+ BaSCxcs)- x \(s7] = Fos) . 3 [ms +G,+82)s] xcs) —Basryesy= FD - Subtitink x)cs> Valu 42 above eoyuakibn . Ms? _ s [M7408 +8298] x6) ~ 89S [ee | x tsd= Fes) ——— ec TE: XW) _ Bo Sth 7 >... 2. 0s) (m 2+ (8, 4B.S] (Bos tk) (B28) | 7 7 |Rotational Mechanical Sipstem. Mechanical spter tevoliing rrobekisn écround a fired axis ae ten Seen th Machtnenies Such Os Luvbines, plimps, vokaking desc, qa, Anerabors , Mobsr and So on. re Conatabs 4 woking auc 4 moment 4 snentta. TG shat shittross 6 The. disc vokukes th a Viscous Medium with avVecous gridion Coedprcionk B > Snol Element | §yp pee rere domain | Vaplaca : “Geatia! v tht veo, T= TS Ors) 2 | es kK at Te ho [ ne ® ee & oo | TB de | Tts)= Bsets). . Determine “wonsfer function for Given Rolattiena) Sobubion :_ T= Tht Te + ip u T= Koe4 640 r 42 Ta 148, 0 “aking laplace tramfom on beth Sides, Tes? =KO(s) + BS OCS) + TS*ec5) Tes) = [h+BS+TS"] ocs> —7O Transfer funckin. Gicsr= 6s) _ 1 Ts Jsyesth —_1______. [se Beam ———! Bloc Bhagrar, Ropresentalion i — CS) = Fe Wes ay Tetrestk,Fitkiral edo aptom | Dekermine -Fronsfex function for the folbewing Mechanical Rokational system . B s a % [oir] Fa) 7 é Y Te Solution : . Step 4: Draw free Bi do am 4 monwne 4 Uneriin. ehernant “Si: “4 + & RR mT 84 wstng Newton a low q mnchion « . sun q rpresing torque. Sum 4 Arpelying toray a TAtk =T Ti de 4g (0,0) = T © fp Q ‘ Ron on bothsides , ship a ‘Toring taplace form, | is?e,cs> + K Leyes) 668) | = Tes? ots) [FT S4+k] - kets = Ts? | Ots)= Tes? +k 00S), J.s2+ kh @0 kb By Gating Newlons IF low @ mobion / “Ya + 1p + Tk =o - Ta Ate di - Tao? ets] +85 8+ b (ocs> -00S) = 0° 8 (8) [JaS%4 65+ KJ-Ke1S) =O") ay Subsbituk 0) Vebe wm ty @. 6s) ~KYyTes2tk OCS} | _ ¢ [Sesrestk ] i oe 9¢s) [Jos es tk] —_kTCS? — 52 —cs9 JTS7tk TSt4 6 (s> 2 op ® | Bs*+es | gms TS*++k | Step 5 “Ransfey Lfunchion . fei = 259) 3. pa) eB Gus. 8S. Po Tes” ae x Is oon Skips coro al Boga 4 Moment 4 Crarttin| Stp@: Teng Laplace —ransform on bot Sides .. / : @ a. covike the Differenbal eqyuakion -for the System Shown th Fae & dolenmine “Fransfen function . 4 vo) Hy, Te Te Newhors IL Jaw 4 molirn, B. Us 1 oy Tyit Thy + Tere ~ T Sidon i (-B)+ Sa dter-P)=7 ——O slepa Toxng Loplaa sponsform on both Sides , J Fosrt 6 C1? Qty] + Big [oytsr-007] = Tesd eye [eh $8128 J — OLN + Be sj =Tes9 a © c5)s Tes 34 065) ky +812 $3 is: Tories Tist+ BiaStk, —-® a SI eedskeps: Draw free Body diagram Q moment 4 inertia “Te Tae le Hey ® eH uaing Newtons ax law 4 motion , Ng +184 Tk, TT =o ° Ta Ge + 04a + he -e) + &e d (0-8-0 © step 4 Toki lace Fransfenn © both Stdas, SE Tein HP Tas" 0c 4 8S 60594 1, [ocs>~ 0,059] +812 § Locsr-01e=2J=0 6 (5? [tas?4 8S 461+ B28] — Os) [4 Fe12 8 I= 0 —@ Substitute 616) from e@in eq @- 86) [hs es+k, +B8p 8] ~ Terecota sen] (6) 4By2S-o Ts4+Bio Stk, Cs) e: $+ Bostk |[bS4e8t BeSth] “Des, ts Thi 85) [67K an geo “honsfer function -[ocs)_ hy + B12 S «| Ws) paste stk IDs este, siks \— TkatieastAnarocous System ° Csimilax? . Sornabimoes Mechanical and other Syerns are. Converted! tink electrical ous Ror the «desi , modibrotion and “anabyscs - Ana eo4s ded bate dane “bpe differential eyuations. Thorp ne fous bees 4 Aralag en hamoly, UW) Fevce- Voltage. Analogy ii) Fore - current An (tii) Tosqrue- Valbage Analogy ay) Torque. - camrent Analogy: Th “tram Llabional Mechanical aystem > vepresenked by rwass, spring and damper ww equation , The Rotational Mechanical Supter b sepreented moment q inertia, gprine shagk and Va cous feictvon Coepficiont — in equation , a ; The eleconal § iy vepresented Tnclucoy, Resiobor, Capacitod in teuw a, veliageVu> = Leliges Ric teLefrat . we ale 4 indy le, curwent “nv rote 4 flew chocyge : » \Vee oe 1 re + EW @: Capacitor, Rosioy, wnduckoy to teu G cusent : 4to=+ (edi 4 cde oe . EJ ae TR - £ where” po fricx Linkage aL Rae Tt —@ Compare equation ©, ©,@,@ which Gives ey uivalent pareumetes- Lt in given by Table . gno| Tanlabional | Retabinal |, (eenelsin. | Seebiel ia ) F T pV ae) 2 M z L qc eo : Pe 5 Yr, J p | eae ie Ve)" @ \ Dvaus the Fore -\o kore Un tog For Khe followil System as choco in ig. x xa Fa Cove en V2 Step 4 - ~ Cayuivalerct elecdscal Aipterns to town % Voltage » Fcbo= VUE) Bas Re. hee Yoo hie & Kio = Yen Mp = uy Mo =b2 Vv, > iy Va = ig ft) Shp ay ‘a wiey cw clragrasm ~ui ne ; ty teu Step a: data equivalent clacta fous, + Cument - fa = 14) B= My Mos Vice he > “, d Vo = Vo ch = = a ' Ba = Be M2 = c2Skep ae Dray free bo haga | be, fa SNE &: io fee By varng Newton, TE Jaw, Pads fe ttiyt fap + £5, $ Choe m,d2 12x) . a %2{—> I me TP ex 4 Ry Oo XDI Bia dee %eH— OQ Shepa.t Draw free vee #ey — Free Pez fe 2 Nevotons ae hacy, $a Feet Sen 4 Ski ten = 9 [tre de Bx ky Xe t eats Ky Oo + Ore §, dona @ Fme=Voltng hnaleyy. S@oceky Merk B) = 8, kek, Vp = dice) = Meclg = Ba = Po Koeln: Vo = tgtt) Be = Rie) Draw the “Torque Vol Nralegous Optom fo 2d ky & Torque current Pr Ay Ree SSS the Mechanecel Dws Sistem -. _ . : i Steps Tdende 4 a eoyuvalent ell Sper tenor “Tet = etky ely - y= Mo, B, = Ry ®, = i> Ta-le ho= ke fa “she We = ty te) YB =bsy 8g- Rs O3 2 isto Fev) Analogous Sim St v “den bity Cqutivalent electrical suptem bh tous 4] convent « THe = iy Tec Hie My B= Ye, Hoo My Be Mee 83+ Yay be= ' a Draw - the dovquc Volts, Wife. t ciment Systuony for 5 the Fong ‘mechanical vretational s},,. Dwr optalwtahy art Draw “Torq ue ~ Volzage cereciuk diagram . “T= ety = Mey sR) wy = Tce) _ Lo a a Ro We = dg tty Ry L aa . el ie) atk) ek) T= ity Seq hoe} = Way Jg=f2 8, -! i B= vp by iu) | Ry' Brock Dirakam Repetto TecHnigue Any control System — will have o nauynben q cont Components» A Control Con be represented ty Bhock Cepia toon - The assrow Areod ‘pointing Jeunds % porbiattas block indicakes Enpud to the Component and amow head Accting cua from the block indy cotles output: Block Diogo ‘b possible to evaluable the tonbitubion q @nch 4 Components tevends ovencl Performance. 4 control System. °pertion the sytem Move neatly thon exomindtich 4 cba cbutl astern Physi . Tey be moked tak Bhock Aiaggionn drawl For a Auster not Wniair + Block diagram representalion 4 hosed beep on sp EO Outpab “Tnput GX) Gis» cs) R& 6es> Blow diagram bh also called canonial -foom-’ { ECs2- Aitso-Bes? | mo + Besa = H¢es).Ccs> Ccs> = ECs? Gics) Res? = E cs +805) = Ecso+HCSCCS) = Ees) + 40s) ECS? Ges? + “|Res> = €q+Hes) EGrGcsy : - closed leo ‘ P Ccsy Transfer function 1 ==. Ets. Ges> EcsoGes> Res)” Bess 4 csp ECS 961083 (by ECGs) On NeADy Y= 1 + Hes)- Gs) Tr. CoS> _ Ges) . Rs) 14 Ges Hes) > Negective feodtack,| TR: C&S) _ Gysy ae, = Oe —.. positive feadback Bes) I~ &\(s) Hes) TF: ds> Gosd unity ack Ks IeGies9 Cie. Heso= 1) OO x which h help to x & block diagram cmd pan Gnd Bene wey Sitvee basic sever tn Block dragrarSumring poi > fred Gi) eel fount « Ta A 1 Bbock, ig} & Block: tt & a 6 mbol dex trathemahia) operakion on he iq ol tre blak “that prrodttas the output : mie patot : “ Te 5 used to ald two or move aural, wo the sistem - — A-6. B th point fren, which the segra) Prom a block goes Concurrently to othen blows Pr eunimiod inks oF AA Taka 5 Atay AG, ~ A “TA file 4: Moving branch potht betore the block _ Tah 1g > “plas AG La soa Rule 5: Rule 6 R culate Cnt te beets & cascade Ag te} Aa, K —_ © Aibt— ages Role 2; aed Comburiun porated blocks fox tring feed Fonwava paths > . Gy AG) a ACG +G2) A * Morn 9 Tail ace6.5 Rule 9: Moving Be. branch poco ahead block. siete Moving S ing point the 4 the block “ wneud a heacl : A_ GME hiMs — efepLes > : ata} A+8)6 NG Cnt 4] Pesibie feedback Looe “ey me > eweAule “1 [Rule 8 : Rule q: ey Samening slecepanh . alee AtB-c é A Php — bo-< . ’ sy Aerinakion g igperie eeclbon, Loop Ry (R-CH) & é aye 7 14GH4 cH ce . = Eee. CRG re C+ CHE =RG 5 fo. & =e > Gs Sata A i Aate, S ba neha A+6-c. oe Combining - Movin d Summit Point before he le sl ab Agta A+ Bh, 4d Susnmng pot ae AtB-c A-c+6=A+6-c| Mee rads :Jol “* Branch fodinls 2 sun trhen ed . ring points “eannet-be. | * No sqpuaxe oun, ty the Transfen funckion . — x Frnlr Reduce the block tegen and. hind C/e, - Step A: Move the bvanch point ple Hho. block, b..Stanar Frow Graen Mores: —— For Complicated gystems, Block reduction epmich for comiving ak framfer_ Ponc'on ‘aeiating the. drput ound! output Variasdes bs kedious and “Hire Consuming - siqnal Flow (st6) & an abternakic| cuppoa.dh Aeveloped by “g-7-Mason- Ht does nok POT recuuchion « process hecatise 4 awaited % dow Papyh tir formula which relotis input and output Siptem Voxridsles, ne ‘Repenitio A SFO fh a graphical vepresentalion, Linens algerie Ccmiabions - rt contisle 4 a rabucort | ty Which nodes represen each s Vortables oe connected bay diveckd “branches - Some tmpooteant teoums in SFr ax a4 falas) PNode : | - ot sents A Systery Vartable whith | equal bo oun 4 aul internit oy nak, oct the node « aligairy stenakk from node do not afpeck fhe Value 4 hode Varcabe. ©. -£ G 1 zi 2 H Hew, F.E,C coe nodes:A Signal trcvels akeng Q branch from one] node 40 ahothor tr divection inducetted the branch axnow and th press, ge multipllred by quin or bansmittane + gE 1 & a R 1 = => bee, Gb branch & _y tt c= GE eS MDanguk node or Sousce :- TE a Node with only ouboi loscnches » 8 Ee c "4 a ( Gg > how Rt Enput node or Sou . 4 A Ce © cutpur node ox sine : ba node with nly erry branches. However thd Condebion is nok mk An additional been ch wlth un gaan nro be attroduced th orelor te mock the Specified. Lordi tin FR |e Gc: : > ew Cw output node oy t Sink + W path: Te 6 the taveral 4 connected lecunches tn the. divection 4 brand) arrows Such. that no nodg, | 6 Kraversed more than one . iW Forward path: : Th ba Prom tn; node be Output node cohen no tno tuie , RE G cy ST 4 / jen po | . Vil) Fomward hte ee i | Ls | Gor oo forward path - Re Ge ~ | / => how “Gi % fervead Path pp . . Viti) Loop: | ae & which originabes and Fearnuinates Ot the Same trode - Bi eEGe 5 hoo ECBE 45 4 Joop + | 4 eu 1%) Leop gatn:— ee ba pecreluck 4 branch qains | encountered tn Havering te Teep- | | RIE Go et rene. an b Loop gain for the foop E-cip-e. | x) Non leas Lo t fe v4 ah clonat possess ony | j Common Node- me non -fouching Loop:Maton’s Gain formula ane sown roma . According +5 Masons gain Formula, the. overall gon Tn expressed as, = Xowk whew — p — Path gan 4 K™ forward oth : A = deteuinont 4 “the path: = It Gam 4 oor ans ail Jrdviduial lag) +Gum 4 qan produch q AL possible combinations 4 two non machin wid — (aun 4 qain produich aul possible Combinakions a three hon touch Loo ps) pee An Value ga for that paxt 4. graph non oucnin? the 1 | ewan bale Ts overall! que 4 System z Fins = qe Product mi™ possible Combinalion % sh non touching Joop. ‘ N= kotal number 4 feruscod pocths « sre protlum ane gaan’ by eltisey equalities mr By Bleck dragranm “or gueh aa Gmphe& . \ Is obkain tno draunsfex, function et Sistem. giver [tp Blots cingrany by wing Stara cle graph: = Skepa: Sepa Finding out forward potth- Ps c+ Us gun here; Forward path ory ore fey Bo | Step 3. Z =P Findivg out “individisal Loops Pane hell ace Pree sndividual Loops, gains ore CO Ry = Gay Gi) fa = - Hoe Gi Pig =— Gy, Ginfol Step &: : . | ending out hip non touching Loops on Pi =F Suh) (G52) = GG Hy Ho: | Slep 5: . TSE ene & one fervor path and all Loops foc the forvord path’ - [6 <1) al Steps. Finding ouk A’ A=i~ (Sumq beopgain , (cumq gain pecduch sal bra op) * gall pene oe tuo non fauching ) Az (- (-Gy Hy -GaHe ~FiGe) + Gy G2He | } ee ee 8 * | 2 Mak os | T= PA, GG S14 G+ GH PGGia + GiGo ty Ho. | Cok1) | Gnas —_ ! a CG, Hy )CH G22? 4G, G2 | x x| & le. Obtatn the sranwfer funchim g the fottecoing Sepia caealion My eg ad lo ph . ae tig A + tg079, = fonds + tag Ay 2 > tan Xa 43.4 My thy ey AS = top da + ths Hy. I Salubisn é Her mput pode @ 2 and output node & 5° etepa locate He nodes gq, the Aystem. Totally 5 | nodles » and cb can be wrepweserttad PY, F/O > ° ey 432 ty ° o => Ci) ¥y yo tog XS ¥y xS ase re . ee Git) & wo x3 bp Ok bi — ea®|@tepaz Step be Fandirg out forward path qain ‘ Fl= bis toa tay thy Po= ty toy bey F3 = tetas, Steps : Finding cub thdividual feedback Loops : | Pretos ta. Pais baa tag Po Ne tag Fay = tao ths aan Step: There iy only one possible Combination. 4 two : now Pru ching Loops . ba se) Piss teataathy uta, ¥ $30 Over all xignal ftow garh obtained by ent: @| 6! Tie i the first a rd pis teers au Loeps , Se ne individual Joop & [a 1) The Aecond Fonucd ath eliminated no Loaltidicad beep & fowed = = he third Fonucd path m eliminated fu loops “}Ag=1- tay ths thy | [Sfp 8 Masons gain Femmula TRA AS. Fait tabs + P3Bs ay a Tr =(tatos tay thy bts teytis 4 tistas (1- Badger tay) ' Gag te. +43, ty3 ttyyttaotys Lyd +botaotyy (3) consider the blocie chi jam as Shon in Figune - Draw see a find ma avant fundvon * Soluteon eedtac, on. block di Negative | back represented F ang neg gaunt nea backct Jorwerd path with path gain. Sfp & 3- Find o P= GiGirGry > Pea = Oy B= Fibdivg ub Jndividual Soops with loop gain Pu ta, 3 BysWe Ge 3 Re Gahs f= Sytahahy o | sepa: Finding oud at gain product 4 fun nor abu.ching ena] 2 knew in no Combiraion | % move than hwo hen “Sou.ching Loops . A = 1 CG, 1 Gabe -Gigh3s~ Gy H3H2 H+ GH Gsbt a | i Pipa Fixsk forward path ctouches al Joops Jee) | Second fonvard path B not ty Louch vielh one loop. [Basix Cetin] (SEREX Masorle Grain Yonaula: 12 p ae RK \ \ = Cra Fe A2\ | Te GyG.2G5+Gy + Gy Gat - | Basten ram | eee yp‘@! Ma 2 AG Servomotor Th word servo mechaintn Onfprated from. He words “seayank Cov Slave) & Mechaudiam’ (he motors that cow used én cuthorratic Control Syston are Colled “corvomobure. when te Obpective Gta System & bo contnt the pesitin 4 an object then ‘Ae System an elaerbiel Se . % @Uod “senvo mechanism vats ET ene whay velocily oy Senvo motot }, movement 62 Lhaft [repent 8, aupely req. bo wun rotor! + I - [bc Semon tor | Ae Seavo motor i) Vv Siding contack —conkack bess, en ee mobor - ph oot permanent Mog na Pcwornagratic field Awmatare control miter eybindca osmatiou. mols Field controlled moter Sextus, motor Disc armakue rotors ee ler Mtaving tol motos splitfield me “eaetrener Greed senvormobor ?- Natt should te easily revenait 4 reversible , have Linear, bewye epee Chararterishics tid operabion should be stable toithouk onty sélatidGil) tinea _nelationshife bebiver Speed ‘are eleese control signal . Civ) Jow rrethaniel ond elecksical inertia - WM fast “Tesporne: ov” shah sdunter were’ ow : as DE Leone fate roche De_ Servo wolor > oan repdrerdc”d Te yarsaye Inte TOO > PO » hol Y > Cer 4 9C..Setvomeler mining “part talhad olor the wage ee Be dhol oF for Srnall mobos, lamaner nl Tr ane ceromagret Motor, staby & wound with wire and current! % Ported trough thi, whrdi called hidld winding «For a constatk field cument: the .mograbre lux d's conbant,- be by Voouyiny the fel cuent . ey Verret j the okor & wound with wire. and acumen: % forad | terough the static ° errushes, ound wokabiing Cormutatoy . mayA Ss hor 4 . / De Servo mo. — / } . 7 Speci destoned | pate bor sale High. : boro ound ow ! Qa. 4 geavo me. chases alec 2c_twoko used fg : [contact Wades 1» two differant | © Ammalicw contr mode nag Cone mode with constant £ surrent ond eld > Field Control Mode with fred axmahise unment - eet 0) Avmodume controlled te motor: Es scx . momar Conkriled De_mott ; i Fel cre Fema d 4 Te o> crmetes. Cucedp b> back emp ft 4 > men ent B hrertic Be -> olashyet b> Fiow! tor the Fi ee Eh ASS Lead on ‘4 Nene hat ond viscous frichon cone iene M2 8,{ : } ly mobor “Tin whitch Causes votntion. Th | jongelon Velouity ts 0 and oxcelorakion ane, vt dud bo Onmatan | (K+ Torey 4 mote bi tinal tuxmenk Ta, and field flux o. oqoin Blo prpor Baan ko Ty.) \ pave Tr = Kota, b= Kp ig Tm = Ky Ke Zp tq © \M=Kroe | where kre ee | Back emf, Ep- KON =k “kK 1 . ha a = Kee? -@ Inertia Spryue » Moment 3 inertia x Argel Aceaben. Tie Tes _, Fevchion boraqug = Viscous Erchon Ccoepp x Ang Velooity TE > Bow = Sodo > @® ‘ dowdloped mote | Torque % Obpesed Wextia brae and Poel for auc . hod eon oe a Jou g wolathd nef Mokion ; ler THT ety LT te “108 Jd% | ede _ Tm = kKrtq © j Uo volay Quandibios § 4 oxmoltive circuit ane Worthen as ba Ae HFS YEpev ye' B oT ; \ a boplat Transform 4. earotion @&26, | Epts)=kps6ts) — > (I8*+ BS) 6(5)= Kp Tats= Tm(s)—-® | (La 6 +a) Fa) = ve5>~E,cs) — @ From ean ©4@ Cas*s Bs) orsd= Ky VOS?-Ents) | : la&+Ba ° oy Cay ® uy the above, (Ss"+ 6p] Das + ay] 00s) = Ky V(S) ~ Kp kp 8 668) | [oe *BoS) (LaS+Ra) + ky kp] 609) = ky Mes) - Tranter funchion = BG) Ker VE) (T5465) (Last Ge) tErkES Vy “BL CS-+60) (las 4 ha) +k; ky |] From @@), we hove ToS) | | 9 Vee) Fata | Frem 248), we Jove 9) _ tke — .@ ye) Serbo) Tre@ ©® can be reprinted oy, | Tats) Ar S@ig + Gy) 6Cs) Ves- Eb ls? —t__ [nF |}—>ra0s) wen VCS) as input Stgnal and y(s) 0% feedback aja Gh. Component > 7epresonted os, i Fonda oy ; Evw= R80] os fombuning al) -the above blocks, it Wil becom - DFA condrotled Dt Mobor:— SA controlled De_Molor OrtaTn = Ki tq = KE Kp ip ig skip. Abo tied civuut eowabion , Gp tp iE. Rig — Torcyue equation, b, vd Ade any ® Ate Joplin, Tromform on above ears. (LpS +85) e595 Eecs) — & (SP+855)o¢s> = krgcs>-—-@) TR = 605) _ Te 70yUe. >” CTs tBal(hyp s+ Re > From eoy 6, Yo 1 Jon. *T3>To2> 75, Epcs > bes +Re From ea ®, es ke N Ins) Tas Sped. 4 al the earns in block diagram , CS) & HES a TCs) pees | SUB +60) [> 88> // ——* tombinj So“Ac. SeRvo Motor): NNO MITOR Ac sexvo motors ‘ane tuso phase nduchion motor Suitable for Simple and Low pews Opphiokion - TE has Skabor pout tun fet to ind laced ot vv each offen in pedor Mipclins a ate anaes teach motor achion depends. one phase c Sipphed from Comtank Ac Yeterene Volbage Ve, the obfan phase ack oA a contwlling field and % Supplied PML butput 4 Serwe almplefien The Spel’ G, robabion 4 Proporbcoral te conbah® aswent Tes the phose 4 which sores igen q mebablon. | Je wen Eg een ina on Ga w Ro’ Condret Th con te Bat Mak 3rd fo mane center curren orige dhe Slope & nagebse when coded came, beens ce, the. thor I develops a dacoloration by 1 causing tb ; rhe ae also shows a oe Lewyuc Y of cen Speod ob incwased Te. Tod ‘indatction Mobsr bry, wiv 4 x2/R8s tall. But for senvo motors, ralg, ratio & tepk Low bo obtaus Lina Te 20F fovayue - chara cherity . ‘ ln stony json High Vala 4 Re ull Ty = Slee > Ta > Tmo +4 CE-Eo) -£(6_6,) —@ } jp whoe ks om 2 le-e, 6-6, a oe € =€,, 6-6, TMa-Ty = RCE-Eo)~F (6-6, ) ATm = RAp-f48 -Wic) And 50 on. : wsbnora. (A™ = Thy Th Tand fo be the trerky an} visco vy q th toad the torque from o, webfiment respec equation becomes, AT = TAO +f Ad = RAE —fH8 Taking Laplace “reausfosm , (Ts74 fo DAECH= kK ZECD-fskos ) . pnaton ip Used in posthion conbrol siptem, 6-0; Ad: 8, AEE. yrhen on AC pounk becomes Eo=°, Beane GCS = Oey. Km ECS) S(%mS+)dao control tanformen om most und Se ores ddleckor tn Feedba tk contol te measures and compares tu angular dis land Ua ouput Vollbage b “eral neon wil So. jonguton difference -| the aboti pak 4 machine (Atalor) i | slotted by accomodate Ure! ¥ connected cody | voound with their axes 120 apart» The stator wi one pot dtveck. “Trreved & te ae | Sour co. Then excel! is Supplied by ne maga tied produced by the solpy - the . ryok-ci ad _ pel Coneerucbion_| phase excitation | ‘woth a Sn A St | yoskoge t afpleed “ty @ he “robb ie tuso apy Teattank crnont Produicos OQ Mmograbic i ont a te fatten dison, Sdasend Statey cous “The effective velkage_ ied on Stotoy Corl depends up on t lo rat lax positil col axis with Vepect to the whor arts 4 ob otter ighes serait Longer Lite ares ond Conkinows, oleae cospabily Sinte thre stato odings | bransnnittes ane connected -veape "wea cabla din foal “een with Hree skater ustrdi ntl poten ta winding tnducd yo a 4 cyrdma threunsmistn, oo cause I mae a ilo ard produce a e vill x Ln On ransformes whith an ten at pci mecenbt sobor « vee gba 4. “Gina emp would be proporbion “k ©y and 's, 4 different (6-05) = ‘emf andi” Dill be Sexy -T Ab aot, the ‘induced emt- well be. Mmasdimusnn : f- contac: ; the nitude gy tetased emf-ak op, i je) acwss Wht} woul have ebton €= fig Sin(Oy- Oo) Cv Shove | € = Ks (67-8, ) yy © Small) Taking boplace Trantom | E(sy> KdbyzlS? -0, (5) J | i | Block — Otagram :— yo | ex(9 Gets) | | Stel Ecs) ' | | Bo(s)? | Ke = Ecs) _ Ecs? f | | £5) By (5? [> | whore Rg & Known % the Sensitivity or ba used undely ch contol Synchro S OA | Ginberng 0% debectors and enco » becouse | pe in Combnuskin and Antz velinkily, grat Rods | —_ | ye | | | | Constapt.(On npuk Affere Pmmantly one eutpuk land bas tay weak ethos on atl ce | bo 4 ; eee Snteracchions (coupling ‘on Eat ong ae consists 4 Appropriale number q Seperate. | Siso Systems - coupling epred, arc. Comiderod 2 | jdisborbare to Stpancte tontrl 5 ound, rray Rot (Qua slgneficank ton in thoi performance Y the, Coupling & Uxak. . Th ib drave. Sheng inkeradion Ceouptirg ) 4 one inpuk Obfeck morel than one o appreciably - There Ose two Approaches far desta controller, for each aystem « ‘ . ‘ Ling conbollern fp Cancel tie! ! ad now dacoup a : Inkerastion “boner foe for mulbVortable | cong oak eo mavens | : Our fe i | poring | \cE les Muley , 4 4 Verutuble © Control system an, G) Aubomobile Daiving Systern - ) GD Anterua eta belizabion i wean be dhuahabd 08 follows. 1d) Automobile Diving Siler: . wind + behere sone Brain (Hand) Spead Aiwik Cont logic The aystem be be bet lac Jos dun inpubi oe 4 Acceberaion/ ) and bos bun controlled peed) - Adsomobile dais System oan alee ae ton ek SenT en tn bo hwo sist — for the poswpose + “ny control A One Heed Speed eet aber contr wand tk ec and nok Pitan trowever brake 4 veld * seed control decreases the ard foves ge aa bine —Toad| inkerfaco ee edtrd conbral and th forked chal, the directional contol & complabels oo The command ineits comok be constant Set por: “Trese inpub depends on hospice ard aad “conditions ard on On uncenbolled mannon ashthe arbud) ‘oral poinks be te Seskem ay _| derived toy daiven Eom askin) wad and Beef ditions “The Auman perro bor toll ‘junatcre be @. mrtperant an tre besa control “astern seated Vosucubles in a mannon Le redhscos cubrolube ©7or @ Some mechanism fer steering 4 pnlanra &» elovatvon Sewonrechaniam . is % becouse Interackion abpect lines et |the” oceuwence azimuth arial @0usr aun Comp Causes an ermwy signal to Oder eh amplifier, ushidh incase, the angulon v Sey % ine Sewomobsy in a divecton ueds coun evioy reduction. The main Aisturbanc 4 , deviation 4 load from the. roma ickirreded Vole AKA vesuth An ‘i ; an etoL— exdimate , “Heck 4 wand Purr ete, Here Loind power b Atibekance. in Controlled anton. Tonge wr pace chiactions io menturenant moue - ie Wiese. ane the enamples for multe - Vortable tonbrol «aprer: — x