TM 141352 Introduction to Auto Control

Introduction 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

Scoring

Quiz
:25 % (3-4x)
Home Work :20 %
ETS
:25 %
EAS
:30 %

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TM 141352 Introduction to Auto Control

Control examples

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Control examples

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Control examples

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TM 141352 Introduction to Auto Control

Control examples

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Control examples

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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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Control examples

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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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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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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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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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Closed loop (feedback) system

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a. Open loop control of speed of turntable, b. block diagram model

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a. Closed-loop control of speed of turntable, b. block diagram model

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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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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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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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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
Desired
speed

Error

Driver

Throttle or
brakes

Motorcycle

Actual
motorcycle
speed

Visual indication
of speed

Speedometer
Measurement

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SISO - DC Motor

MIMO Temp control

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But what is a controller, really?

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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 havent achieved perfect control, better
design is needed

Automatic control: Making things behave as we want.

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TM 141352
Introduction
to Auto Control
Example
of designing
block diagram

Problem 1.
Many luxury automobiles have thermostatically controlled air-conditioning
systems for the comfort of the passengers. Sketch a block diagram of an
air-conditioning system where the driver sets the desired interior
temperature on a dashboard panel. Identify the function of each element
of the thermostatically con-trolled cooling system.
Problem 2.
In the past control systems used a human operator as part of a closedloop control system. Sketch the block diagram of the valve control system
shown in Figure 1.

Figure 1. Fluid flow control

TM 141352 Introduction to Auto Control

Problem 3

Engineers want to design a control system that will allow building or

other structure to react to the force of an earthquake much as
human would. The structure would yield to the force, but only so
much, before mustering strength to push back. Develop a block
diagram of a control system to reduce the effect of earthquake
control.
Problem 4

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.
Problem 5

Small computers are used in automobile to control emissions and

obtain improved gas mileage. A computer-controlled fuel injection
system that automatically adjusts the fuel-air mixture ratio could
improve gas mileage and reduce unwanted polluting emissions
significantly. Sketch a block diagram for such a system for an
automobile