intro to control systems
TRANSCRIPT
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Control Systems
By
M. Asim RehmatLecturer CS&E Department,
UET Lahore
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Introduction• Muhammad Asim Rehmat
• MS Computer Science in Artificial Intelligence, UETLahore
• Belongs to SIALKOT and Engaged.
• Got 1st prize in All Pak E-Club Project Exhibition
• Got 1st prize in Final Year project Evaluation• Team Lead of Database section and Servers in the
Development of PAK Linux at UET
• Got more than 8 First prizes in All Asia and All PakistanEngineering & Software Competitions as Project Advisor
• Subjects I Teach are:• Robotics & CNC Machines, Embedded Systems,
Industrial Automation, Control Systems, ArtificialIntelligence
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Course Plan
• 2 Assignments 10• 1 Quiz 10
• Mid-Term 30
• Final 40
• Term Project 50
• Viva 20
• Lab Performance 20
• Personal/Professional Growth 20
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Course material
• Lecture slides• Text Book: Control Systems
Engineering by Norman S. Nise, John
Wiley, Asia, 4th edition, 2004.• Reference Book: Electronics Circuits
Fundamentals by Franco, Oxford
University Press, 1997.• WWW
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What is a Control System?
A Control System consists of subsystems andprocesses (or plants) assembled to control the
outputs of a process.
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Typical Examples
• Central Temperature Control• Fluid Level maintenance systems
• Battery Voltage Control
• Human has numerous control systemsbuilt in it.
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Control System another view
• A Control System is an arrangement of physical components connected/related in
such a manner as to command, direct or
regulate itself or another system.
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Human like Control
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How….. Control Systems in
Robotics Perspective
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Autonomous planning and Exploration
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Autonomous control
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Industry
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…….…Everywhere
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Control systems are divided into
two classes:
a) If the aim is to maintain a physical variable at some fixed
value when there are disturbances, this is a regulator. Example: speed-control system on the ac generators of power utility companies.
b) The second class is the servomechanism. This is acontrol system in which a physical variable is required tofollow (track) some desired time function.
Example: an automatic aircraft landing system, or a robotarm designed to follow a required path in space.
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Advantages of a Control System
• Power amplification – Radar antenna positioned by the low-power
rotation of a knob at the input, requires a large
amount of power for its output rotation.Control system will produce the needed
power amplification/power gain.
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Advantages of a Control System
• Remote controlRover was built to
work in contaminated
areas at Three MileIsland where a
nuclear accident
occurred in 1979.
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Advantages of a Control System
• Convenience of input form – In a temperature control system, the input is
the position on a thermostat and the output is
the heat. Thus a convenient position inputyields a desired thermal output.
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Advantages of a Control System
• Compensation for disturbances – In an antenna system that points in a
commanded direction, wind can force the
antenna to deviate from commandeddirection. The system should detect the
disturbance and act accordingly.
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Classical Control Systems
• Liquid Level Control
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Response Characteristics
• Consider a control system for an elevator. – The input is a step function instructing the
elevator to go to a higher floor (4).
– The output is a transient response plus a steady-state response and has a steady-state error.
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Open-Loop Systems
• An open-loop system cannot compensate
for any disturbances that add to the
controller’s driving signal or to the process
output.
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Closed-Loop (Feedback Control)
• A closed-loop system can compensate for
disturbances by measuring the output,
comparing it to the desired output, and driving
the difference toward zero.
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Closed-Loop (Feedback Control)
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Closed-Loop (Feedback Control)
• Greater accuracy than open-loop systems
• Transient and steady-state responses can be
controlled more easily
• More complex and expensive than open-loop
systems
– Requires monitoring the plant output
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Analysis and Design Objectives
• Transient Response must meet certain criteria.
Hard disk read write etc.
• Steady-State Response must meet certain
criteria.
• The system must have Stability. – Total Response = Natural Response +
Forced Response
• Natural response describes the way the system
dissipates or gain energy. It is dependent only onthe system not the input
• Forced response depends on the input.
• Natural response must go to zero leaving only the
forced response or oscillate
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Analysis and Design Objectives
• Other Considerations – Hardware limitations
– Finances
– Robust Design
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Antenna Azimuth Position Control
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Design Stages for the Antenna
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Step-3: Draw Schematic
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Step-4: Draw Block Diagram
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Mathematical Models
• Model the system mathematically usingphysical laws. – Kirchoff’s Voltage Law - The sum of voltages around a closed
path is zero.
– Kirchoff’s Current Law - The sum of currents flowing from a nodeis zero.
– Newton’s Laws - The sum of forces on a body is zero
(considering mass times acceleration as a force).
The sum of moments on a body is zero.
• The model describes the relationship
between the input and the output of the
dynamic system.
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Step-5: Reduce the Block Diagram
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Step-6: Analyze and Design
•The input signal is the desired position of
the antenna.•Several common forms of input
functions are used for test purposes
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Why Control Systems for CSE?
• Engineering involves the study of design and analysisof engineering systems.
• Engineering systems are physical systems which could
be modeled mathematically (mathematical models).
• Many engineering or physical systems are control systems.
Examples are: central heating system, auto pilot,
robots, automobiles, etc.
• Software engineers often participate in the development
of large softwares for control systems, e.g. software for
the control of the space shuttle.