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Control Engineering

This document provides an outline for the MEE30002 Control Engineering unit. It includes the following key points: - Assessment is based on a final exam (65%), individual test (15%), and group labs (20%). - Students must achieve at least 35% on assessments over 15%, 50% aggregate mark, and 45% on the final exam to pass. - The exam date is June 19, 2015 from 9am-12:10pm and covers lectures 1-10 and tutorial 1-7. - Control system modeling, analysis, and controller design techniques like root locus and frequency response are covered. - Solutions to common control problems like eliminating steady state error and improving stability/

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DiShan
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124 views

Control Engineering

This document provides an outline for the MEE30002 Control Engineering unit. It includes the following key points: - Assessment is based on a final exam (65%), individual test (15%), and group labs (20%). - Students must achieve at least 35% on assessments over 15%, 50% aggregate mark, and 45% on the final exam to pass. - The exam date is June 19, 2015 from 9am-12:10pm and covers lectures 1-10 and tutorial 1-7. - Control system modeling, analysis, and controller design techniques like root locus and frequency response are covered. - Solutions to common control problems like eliminating steady state error and improving stability/

Uploaded by

DiShan
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Revision Class

MEE30002
Control Engineering
Unit Outline
• Assessment
‐ Final Exam – 65%
‐ Test (Individual)– 15%
‐ Labs (Group) – 20% (Week 3, 6, 10 and 13)

Blackboard ‐> MEE30002 ‐> Unit Outline
Minimum requirements to pass this 
unit of study

• Achieve at least 35% of the possible final 
marks for each Assessment Component worth 
15% or more.
• Achieve an aggregate mark for the subject of 
50% or more.
• Achieve at least 45% in the final exam.
MEE30002 Exam
Total: 65%
Date: 19/06/2015
Time:  9:00am ‐12:10pm

Lecture 1 – 10
Tutorial 1 – 7
Lab 1 – 4

Amendment:
Question 6
Text Book
• W. Bolton (2004). Instrumentation and Control 
Systems, 1st ed, Elsevier.
Formula Sheet
Formula Sheet
Formula Sheet
Formula Sheet
Formula Sheet
Introduction to Control Systems
• How do we achieve control goals?
Performance specifications  System Modeling

System Analysis

Controller Design

Optimization and 
Analyze system 
performance
System Modelling
System Differential Equation
Step 1: Obtain equation of motion. 
(Newton 2nd law)

Step 2: Obtain linear differential equation.
(Time domain)

Step 3: Determine its transfer function.
(S domain)

Step 4: Obtain the output response (Transient response)
(Time domain)
Time domain VS ‘S’ Domain
Frequency Response

Transfer function

System analysis
Block diagram

Signal Flow Graph
method

Transfer function
Block diagram 
method
System Analysis
System characteristic 
Closed Loop Transfer 
function Sensitivity
(S domain)

Open Loop transfer 
Poles & Zeros
function

Characteristic  System type/ 
Equation (C.E) Root Locus
Characteristic Equation (C.E)
Characteristic 
Equation (C.E)

R‐H stability 
System  2nd order 
criterion
order system

System  Damping ratio 
Root Locus and natural 
stability
frequency
Transient Response (2nd order system)
Given formula

Damping ratio 
and natural 
frequency
Performance Specifications
jω

Example:

σ
Transient Response (2nd order system)
Steady State error
• Definition – The difference between the input 
and the output of a system in the limit as time 
goes to infinity.

→
Example
•
→
Given two different inputs:
i) Step input , R(s)= 

=>  = )
→
→

ii) Ramp input, R(s)=
=>  = )
→
→
Steady state error varies with system 
type
System stability
• R‐H stability criterion
‐ Characteristic Equation
‐Stable, unstable or marginally stable

• Root Locus
Find K value
System stability
If K>1078?

K=1078
(Marginally 
stable) 

R‐H stability 
criterion
System stability (Frequency response)

Positive Gain 
margin & Positive 
Phase margin
(Stable)
Problem
• Eliminate steady state error (Ess)
• Create a stable system
• Improve transient response
• Meet the desired performance specification
Solution
• PI controller
‐ Eliminate steady state error
‐ Will not affect the transient response
• PD controller
‐ Improve stability
‐ improve transient response
• PID controller
‐ Both controllers advantages
Steady state error

Root Locus
jω

σ
‐1 ‐1/2 0
0→∞

***Desired poles
are not on the root locus!!!
PD Controller Design
PID Turning (Process reaction curve 
method)

Type of 
controlle
r
P infinity 0

PI 3.3 0
0.9

PID 2 0.5
1.2
Frequency Response (Controller 
design)
Frequency Response (Controller 
design)
Strain Gauge and Op‐am
Strain Gauges (Force Sensor)
Wheatstone bridge
• The Wheatstone bridge is used to convert a 
resistance change to a voltage change.

The bridge is said to be balanced
Op‐Amp
Op‐Am
Hydraulic System
Pump Efficiency

Pd Qd
Overall Pump Efficiency, 
T
Pd = Discharge pressure at output port.
Qd = Volumetric flow rate at output port.
T = Input torque on the drive shaft.
ω = Angular velocity of drive Shaft.

T x ω Pump Pd x Qd


Cylinder ‐ Efficiency

Fv
• Overall Cylinder Efficiency,  
Pi Qi
Pi = Pressure at Input port.
Qi = Volumetric flow rate at Input port.
F = Actuator force.
v = Actuator velocity.
Cylinder – Piston Force

F = P X A
Where
F = Piston Force
P = pressure
A = Effective Area
Directional Control Valve
Operator Symbols
Operator Symbols
Hydraulic System Example
Pneumatic System Example
Indirect Control
• Q & A

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