1/11/2016 System Dynamics and Control 1.01 Introduction System Dynamics and Control 1.03 1.02 Introduction Learning Outcome After completing this chapter, the student will be able to • Define a control system and describe some applications • Describe historical developments leading to modern day control theory • Describe the basic features and configurations of control systems • Describe control systems analysis and design objectives • Describe a control system’s design process • Describe the benefit from studying control systems 01 Introduction HCM City Univ of Technology, Faculty of Mechanical Engineering System Dynamics and Control Nguyen Tan Tien Introduction §1.Introduction - Control System Definition HCM City Univ of Technology, Faculty of Mechanical Engineering System Dynamics and Control 1.04 Nguyen Tan Tien Introduction §1.Introduction A control system consists of subsystems and processes (or plants) assembled for the purpose of obtaining a desired output with desired performance, given a specified input - Ex.: elevator control system Early elevators were controlled by hand ropes or an elevator operator HCM City Univ of Technology, Faculty of Mechanical Engineering System Dynamics and Control 1.05 Nguyen Tan Tien Introduction §2.A History of Control Systems B.C.200 Greece Float regulator mechanism B.C.50 Middle East Water clock 1600 Cornelis Drebbel, Holland First feedback system Temperature regulator 1462-1727 Sir Isaac Newton Mathematical modeling 1685-1731 Brook Taylor Taylor series 1700 Dennis Papin Pressure regulator for steam boiler HCM City Univ of Technology, Faculty of Mechanical Engineering Today, elevators are fully automatic, using control systems to regulate position and velocity HCM City Univ of Technology, Faculty of Mechanical Engineering System Dynamics and Control 1.06 Nguyen Tan Tien Introduction §2.A History of Control Systems 1749-1827 Pierse Simon Laplace Laplace Transform 1769 James Watt First automatic controller Flyball governer 1765 I Polzunov, Soviet Union First level regulator system 1831-1907 Edward John Routh Routh criterion 1859-1925 Oliver Heaviside Mathematical analysis 1868 J.C Maxwell Mathematical theory for control system Nguyen Tan Tien HCM City Univ of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien 1/11/2016 System Dynamics and Control 1.07 Introduction System Dynamics and Control 1.08 Introduction §2.A History of Control Systems 1890’ Lyapunov, Soviet Union Stability theory 1930’ Nyquist, Bode, Black; Bell Telephone Lab Electronic feedback amplifier 1889-1976 Harry Nyquist Nyquist criterion 1898-1981 Harold Black Negative feedback amp 1905-1982 Hendrik Bode Bode diagram WWII period Automatic airplane pilot; Gun-positioning system, radar; Antenna control system; Military systems §2.A History of Control Systems Post War Frequency domain analysis Laplace transform method 1903-1957 John Von Neumann Basic operation of digital computer 1950’ Root locus method Computer age open (digital control) Space age (Sputnik, Soviet Union) Maximum principle (Pontryagin) Optimal control Adaptive control system (Draper) 1960’ Dynamic programming (Bellman) State space method HCM City Univ of Technology, Faculty of Mechanical Engineering HCM City Univ of Technology, Faculty of Mechanical Engineering System Dynamics and Control 1.09 Nguyen Tan Tien Introduction §2.A History of Control Systems 1970’ Microprocessor based control system Digital control system 1980 Neural network Artificial Intelligent Fuzzy control Predictive control Doyle & Stein: LQG / LTR Remote diagnostic control system System Dynamics and Control 1.10 Sputnik, 1957 Nguyen Tan Tien Introduction §3.System Configurations - Open-Loop Systems - Closed-Loop Systems - Computer-Controlled Systems HCM City Univ of Technology, Faculty of Mechanical Engineering System Dynamics and Control 1.11 Nguyen Tan Tien Introduction HCM City Univ of Technology, Faculty of Mechanical Engineering System Dynamics and Control 1.12 Introduction §4.Analysis and Design Objectives - Analysis: determine a system’s performance - Design: create or change a system’s performance - A control system is dynamic → It responds to an input by undergoing a transient response before reaching a steady-state response that generally resembles the input - Three major objectives of systems analysis and design • Producing the desired transient response • Reducing steady-state error • Achieving stability Other design concerns • Cost • The sensitivity of system performance to changes in parameters §4.Analysis and Design Objectives - Response The solution of 𝑥 + 𝑎𝑥 = 𝑏 𝑏 𝑏 𝑥 𝑡 = + 𝑥 − 𝑒 −𝑎𝑡 𝑎 𝑎 HCM City Univ of Technology, Faculty of Mechanical Engineering HCM City Univ of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien 𝑥 𝑡 = 𝑥 𝑒 −𝑎𝑡 + or Nguyen Tan Tien 𝑏 − 𝑒 −𝑎𝑡 𝑎 Response • Steady-state: the part of the response that remains with time • Transient: the part of the response that disappears with time • Free: the part of the response that depends on the initial conditions • Forced: the part of the response due to the forcing function 𝑏 𝑏 𝑏 𝑥 𝑡 = 𝑎 + 𝑥 − 𝑎 𝑒 −𝑎𝑡 = 𝑥 𝑒 −𝑎𝑡 + 𝑎 − 𝑒 −𝑎𝑡 Nguyen Tan Tien 1/11/2016 System Dynamics and Control 1.13 Introduction §4.Analysis and Design Objectives - Stability The solution of 𝑥 + 𝑎𝑥 = 𝑏 𝑥 𝑡 =𝑥 𝑒 −𝑎𝑡 𝑏 1.14 Introduction §4.Analysis and Design Objectives - Case study: An Introduction to Position Control Systems System concept Design layout 𝑏 + − 𝑒 −𝑎𝑡 𝑎 • Unstable: the free response approaches ∞ as 𝑡 → ∞ • Stable: the free response approaches • Neutral stability: the borderline between stable and unstable The free response does not approach both ∞ and - Other considerations • Finances • Robustness 𝑏 System Dynamics and Control Scheme Functional block diagram 𝑏 𝑥 𝑡 = 𝑎 + 𝑥 − 𝑎 𝑒 −𝑎𝑡 = 𝑥 𝑒 −𝑎𝑡 + 𝑎 − 𝑒 −𝑎𝑡 HCM City Univ of Technology, Faculty of Mechanical Engineering System Dynamics and Control 1.15 Nguyen Tan Tien Introduction §4.Analysis and Design Objectives - Response of a position control system, showing effect of high and low controller gain on the output response HCM City Univ of Technology, Faculty of Mechanical Engineering System Dynamics and Control 1.16 Nguyen Tan Tien Introduction §5.The Design Process - The control system design process - The antenna azimuth position control system are using as an example through the control system design process HCM City Univ of Technology, Faculty of Mechanical Engineering System Dynamics and Control 1.17 Nguyen Tan Tien Introduction HCM City Univ of Technology, Faculty of Mechanical Engineering System Dynamics and Control 1.18 Nguyen Tan Tien Introduction §5.The Design Process Step 1: Transform Requirements Into a Physical System Requirements • Desire to position the antenna • System features such as weight and physical dimensions Using the requirements, design specifications are determined • Desired transient response • Steady-state accuracy §5.The Design Process Step 2: Draw a Functional Block Diagram Translates a qualitative description of the system into a functional block diagram that describes the component parts of the system (that is, function and/or hardware) and shows their interconnection HCM City Univ of Technology, Faculty of Mechanical Engineering HCM City Univ of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien Nguyen Tan Tien 1/11/2016 System Dynamics and Control 1.19 Introduction System Dynamics and Control 1.20 Introduction §5.The Design Process Step 3: Create a Schematic After producing the description of a physical system, the control systems engineer transforms the physical system into a schematic diagram The control system designer can begin with the physical description to derive a schematic §5.The Design Process Step 4: Develop a Mathematical Model (Block Diagram) Using the physical laws, along with simplifying assumptions, to model the system mathematically • Kirchhoff’s voltage law The sum of voltages around a closed path equals zero • Kirchhoff’s current law The sum of electric currents flowing from a node equals zero • Newton’s laws The sum of forces on a body equals zero, The sum of moments on a body equals zero The model describes the relationship between the input and output 𝑑 𝑛 𝑐(𝑡) 𝑑 𝑛−1 𝑐(𝑡) + 𝑑𝑛−1 + ⋯ + 𝑑0 𝑐 𝑡 = 𝑑𝑡 𝑛 𝑑𝑡 𝑛−1 𝑑𝑚 𝑢(𝑡) 𝑑 𝑚−1 𝑢(𝑡) 𝑏𝑚 + 𝑏𝑚−1 + ⋯ + 𝑏0 𝑟 𝑡 𝑑𝑡 𝑚 𝑑𝑡 𝑚−1 HCM City Univ of Technology, Faculty of Mechanical Engineering HCM City Univ of Technology, Faculty of Mechanical Engineering System Dynamics and Control 1.21 Nguyen Tan Tien Introduction §5.The Design Process Step 5: Reduce the Block Diagram In order to evaluate system response in this example, we need to reduce this large system’s block diagram to a single block with a mathematical description that represents the system from its input to its output System Dynamics and Control 1.22 Nguyen Tan Tien Introduction §5.The Design Process Step 6: Analyze and Design Analyze and design the system to meet specified requirements and specifications that include stability, transient response, and steady-state performance The standard test input signals • Impulse Equivalent block diagram for the antenna azimuth position control system Use to place initial energy into a system so that the response due to that initial energy is only the transient response of a system From this response the designer can derive a mathematical model of the system HCM City Univ of Technology, Faculty of Mechanical Engineering System Dynamics and Control 1.23 Nguyen Tan Tien Introduction §5.The Design Process • Step HCM City Univ of Technology, Faculty of Mechanical Engineering System Dynamics and Control 1.24 Nguyen Tan Tien Introduction §5.The Design Process • Parabola A step input represents a constant command Use to evaluate both transient and steady-state response Use to get additional information about the steady-state error • Sinusoid • Ramp Use to test a physical system to arrive at a mathematical model The ramp input represents a linearly increasing command Use to get additional information about the steady-state error HCM City Univ of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien 1/11/2016 System Dynamics and Control 1.25 Introduction §6.Computer-Aided Design - MATLAB 1.26 HCM City Univ of Technology, Faculty of Mechanical Engineering 1.28 Nguyen Tan Tien Introduction HCM City Univ of Technology, Faculty of Mechanical Engineering System Dynamics and Control 1.28 §7.Problems - P.1.2 A temperature control system operates by • sensing the difference between the thermostat setting and the actual temperature • opening a fuel valve an amount proportional to this difference Draw a functional closed-loop block diagram identifying the input and output transducers, the controller, and the plant Further, identify the input and output signals of all subsystems previously described Solution §7.Problems - P.1.3 HCM City Univ of Technology, Faculty of Mechanical Engineering HCM City Univ of Technology, Faculty of Mechanical Engineering System Dynamics and Control Introduction §7.Problems - P.1.1 The resistance of a variable resistor (potentiometer) is varied by moving a wiper arm along a fixed resistance The resistance from 𝐴 to 𝐶 is fixed, but the resistance from 𝐵 to 𝐶 varies with the position of the wiper arm If it takes 10 turns to move the wiper arm from 𝐴 to 𝐶, draw a block diagram of the potentiometer Solution - LabVIEW System Dynamics and Control System Dynamics and Control 1.29 Nguyen Tan Tien Introduction §7.Problems Introduction Draw a functional block diagram for a closed-loop system that stabilizes the roll as follows • The system measures the actual roll angle with a gyro and compares the actual roll angle with the desired roll angle • The ailerons respond to the roll angle error by undergoing an angular deflection • The aircraft responds to this angular deflection, producing a roll angle rate Identify the input and output transducers, the controller, and the plant Further, identify the nature of each signal System Dynamics and Control 1.30 Nguyen Tan Tien Introduction §7.Problems - P.1.4 A winder controls the material traveling at a constant velocity The force transducer measures tension; the winder pulls against the nip rolls, which provide an opposing force; and the bridle provides slip In order to compensate for changes in speed, the material is looped around a dancer The loop prevents rapid changes from causing excessive slack or damaging the material If the dancer position is sensed by a potentiometer or other device, speed variations due to buildup on the take-up reel or other causes can be controlled by comparing the potentiometer voltage to the commanded speed The system then corrects the speed and resets the dancer to the desired position Draw a functional block diagram for the speed control system, showing each component and signal Solution HCM City Univ of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien Nguyen Tan Tien HCM City Univ of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien 1/11/2016 System Dynamics and Control 1.31 Introduction §7.Problems System Dynamics and Control 1.32 Introduction §7.Problems - P.1.5 Solution In a nuclear power generating plant, heat from a reactor is used to generate steam for turbines The rate of the fission reaction determines the amount of heat generated, and this rate is controlled by rods inserted into the radioactive core The rods regulate the flow of neutrons If the rods are lowered into the core, the rate of fission will diminish; if the rods are raised, the fission rate will increase By automatically controlling the position of the rods, the amount of heat generated by the reactor can be regulated Draw a functional block diagram for the nuclear reactor control system HCM City Univ of Technology, Faculty of Mechanical Engineering System Dynamics and Control 1.33 Nguyen Tan Tien Introduction §7.Problems System Dynamics and Control 1.34 Nguyen Tan Tien Introduction §7.Problems - P.1.6 A university wants to establish a control system model that represents the student population as an output, with the desired student population as an input The administration determines the rate of admissions by comparing the current and desired student populations The admissions office then uses this rate to admit students Draw a functional block diagram showing the administration and the admissions office as blocks of the system Also show the following signals: the desired student population, the actual student population, the desired student rate as determined by the administration, the actual student rate as generated by the admissions office, the dropout rate, and the net rate of influx Solution HCM City Univ of Technology, Faculty of Mechanical Engineering System Dynamics and Control HCM City Univ of Technology, Faculty of Mechanical Engineering 1.35 Nguyen Tan Tien Introduction §7.Problems Solution HCM City Univ of Technology, Faculty of Mechanical Engineering HCM City Univ of Technology, Faculty of Mechanical Engineering System Dynamics and Control 1.36 Nguyen Tan Tien Introduction §7.Problems - P.1.7 We can build a control system that will automatically adjust a motorcycle’s radio volume as the noise generated by the motorcycle changes The noise generated by the motorcycle increases with speed As the noise increases, the system increases the volume of the radio Assume that the amount of noise can be represented by a voltage generated by the speedometer cable, and the volume of the radio is controlled by a dc voltage If the dc voltage represents the desired volume disturbed by the motorcycle noise, draw the functional block diagram of the automatic volume control system, showing the input transducer, the volume control circuit, and the speed transducer as blocks Also show the following signals: the desired volume as an input, the actual volume as an output, and voltages representing speed, desired volume, and actual volume Nguyen Tan Tien HCM City Univ of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien 1/11/2016 System Dynamics and Control 1.37 Introduction §7.Problems Solution 1.39 Nguyen Tan Tien Introduction §7.Problems Solution a Introduction HCM City Univ of Technology, Faculty of Mechanical Engineering System Dynamics and Control 1.40 Nguyen Tan Tien Introduction §7.Problems b HCM City Univ of Technology, Faculty of Mechanical Engineering System Dynamics and Control 1.38 §7.Problems - P.1.8 Your bathtub at home is a control system that keeps the water level constant A constant flow from the tap yields a constant water level, because the flow rate through the drain increases as the water level increases, and decreases as the water level decreases After equilibrium has been reached, the level can be controlled by controlling the input flow rate A low input flow rate yields a lower level, while a higher input flow rate yields a higher level a.Sketch a control system that uses this principle to precisely control the fluid level in a tank Show the intake and drain valves, the tank, any sensors and transducers, and the interconnection of all components b.Draw a functional block diagram of the system, identifying the input and output signals of each block HCM City Univ of Technology, Faculty of Mechanical Engineering System Dynamics and Control System Dynamics and Control 1.41 Nguyen Tan Tien Introduction §7.Problems - P.1.11 System Dynamics and Control 1.42 Nguyen Tan Tien Introduction §7.Problems The vertical position, 𝑥(𝑡), of the grinding wheel is controlled by a closed-loop system The input to the system is the desired depth of grind, and the output is the actual depth of grind The difference between the desired depth and the actual depth drives the motor, resulting in a force applied to the work This force results in a feed velocity for the grinding wheel Draw a closed-loop functional block diagram for the grinding process, showing the input, output, force, and grinder feed rate HCM City Univ of Technology, Faculty of Mechanical Engineering HCM City Univ of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien Solution HCM City Univ of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien 1/11/2016 System Dynamics and Control 1.43 Introduction §7.Problems - P.1.11 1.44 Introduction §7.Problems Consider the high-speed proportional solenoid valve A voltage proportional to the desired position of the spool is applied to the coil The resulting magnetic field produced by the current in the coil causes the armature to move A push pin connected to the armature moves the spool A linear voltage differential transformer (LVDT) that outputs a voltage proportional to displacement senses the spool’s position This voltage can be used in a feedback path to implement closed-loop operation Draw a functional block diagram of the valve, showing input and output positions, coil voltage, coil current, and spool force HCM City Univ of Technology, Faculty of Mechanical Engineering System Dynamics and Control Nguyen Tan Tien Solution HCM City Univ of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien ... of Technology, Faculty of Mechanical Engineering HCM City Univ of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien Nguyen Tan Tien 1/11/ 2016 System Dynamics and Control 1.19 Introduction. .. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien 1/11/ 2016 System Dynamics and Control 1.25 Introduction. .. Univ of Technology, Faculty of Mechanical Engineering HCM City Univ of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien Solution HCM City Univ of Technology, Faculty of Mechanical