mae 691 special topic : modern control theoryfaculty.mercer.edu/jenkins_he/documents/lecture1... ·...
TRANSCRIPT
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MAE 691 Special Topic : Modern Control Theory
Dr. Hodge Jenkins
Mechanical Engineering
Fall 2016
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Control Background Check • Had a math/engineering course using Laplace
transforms?
• Had a math/engineering course using matrices and linear algebra?
• Have used MATLAB ?
• Have used SIMULINK ?
• Had a dynamics course?
• Had a vibrations course?
• Had an undergraduate course in controls?
• Had a graduate controls course?
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Control Basics Function Block Diagrams
Lecture 1
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Most Common Control System Has No Electronics
• Tank Liquid Volume Control
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Function Block Diagram
• Basic modeling representation of hardware, electronic, or software element (has units).
Input
variable or signal
Output variable or
signal
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Block diagram: Control & Feedback Terminology
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Feedback Basic Terminology • Process: system or central component whose output is to be
controlled • Actuator: Device that can influence the process and change the
process output • Plant: Combination of Plant and Actuator • Comparator: Computes the difference between Reference and
Output • Controller (or compensator): Device that computes the control
signal/variable : Combination of Comparator and Compensator • Senor: Provides an electrical (or mechanical) output proportional
to variable to be measured • Reference: the desired value for the output of a system,
sometimes called Reference Input or Input or Set point • Output: the process variable of a system to be controlled • Transfer Function: function when multiplied by an Input provides
an Output for the component or system being modeled (usually thought of in terms of Laplace transforms for continuous systems)
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What is required to control a system Open Loop (no feedback) ?
• Compensator + Actuator
• Accurate model of system response to control input
What additional is required to control a system via feedback control?
• Output sensor
• Comparator
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Temperature Control Function Block
Diagram: Open Loop System
Room
Desired Input Temperature
Fuel Flow Control
TSET
Disturbance Heat flow in/out QDist
Compensator
TActual
Output QIn Plant
Furnace
dV/dt
Fuel Rate
Actuator
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Room
Reference Input Temp
TSET
TMeasured
+ _
Error
Disturbance Heat flow in/out QDist
TActual
Temperature Control Function Block
Diagram: Closed-Loop Continuous
System
Temperature Sensor
Output
Fuel Flow Control
QIn
Furnace
dV/dt
Fuel Rate
Compensator Actuator
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Function block diagram of a room temperature control system, digital output
Room temperature and furnace output vs. time
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Plant and Controller • Plant ~= Actuator + Process
• Controller ~= Comparator + Compensator
Room
Reference Input Temp
TSET
TMeasured
+ _
Error
Disturbance Heat flow in/out QDist
TActual
Temperature Sensor
Output
Fuel Flow Control
QIn
Furnace
dV/dt
Fuel Rate
Compensator Actuator
Plant Controller
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Why is feedback needed?
• Disturbances ( weather changes for example)
• Unmodeled plant or actuator characteristics
• Changes plant or actuator
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Limitations of Control
• Senor saturation
• Power available
• Component physical limits (stress, temperature, etc.)
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Modeling of Systems
• Needed to design an appropriate compensator (whether feedback is used or not)
• Characterize the system performance or best possible performance
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Modeling: Dynamic Models
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Mechanical 1 DOF Model
Apply Laplace transform to get algebraic equation.
Define output and input. Get transfer function.
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Mechanical Systems: Car Suspension
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Electro/Mech. Systems : Disk Drive
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Segway
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Electronic circuits
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DC Motor
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DC motor
• (a) electric circuit of the armature;
• (b) free-body diagram of the rotor
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Fluid systems
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Thermal Systems (heat transfer)
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Steam Engine + Control
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Operating parts of a fly-ball governor