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ME451: Control Systems Course Roadmap

This document provides a course roadmap for ME451: Control Systems. It covers modeling of mechanical systems using Laplace transforms, transfer functions, block diagrams, and linearization. Key topics include time response analysis, frequency response analysis using Bode plots, and control system design using root locus and PID/lead-lag compensation. Modeling of common mechanical elements like mass-spring-damper and rotational systems is demonstrated. Stability analysis methods like Routh-Hurwitz and Nyquist are introduced. Matlab simulations and laboratories reinforce the concepts.

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Vu Nghia
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34 views5 pages

ME451: Control Systems Course Roadmap

This document provides a course roadmap for ME451: Control Systems. It covers modeling of mechanical systems using Laplace transforms, transfer functions, block diagrams, and linearization. Key topics include time response analysis, frequency response analysis using Bode plots, and control system design using root locus and PID/lead-lag compensation. Modeling of common mechanical elements like mass-spring-damper and rotational systems is demonstrated. Stability analysis methods like Routh-Hurwitz and Nyquist are introduced. Matlab simulations and laboratories reinforce the concepts.

Uploaded by

Vu Nghia
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Course roadmap

ME451: Control Systems Modeling Analysis Design


Laplace transform
Time response
Transfer function Design specs
• Transient
Lecture 5 • Steady state
Models for systems Root locus
Modeling of mechanical systems • electrical
Frequency response
• mechanical Frequency domain
• Bode plot
• electromechanical
PID & Lead-
Lead-lag
Stability
Dr. Jongeun Choi Block diagrams
• Routh-
Routh-Hurwitz
Design examples
Department of Mechanical Engineering • Nyquist
Linearization
Michigan State University

(Matlab simulations &) laboratories


1 2

Time-invariant & time-varying Newton’s laws of motion


ƒ A system is called time-invariant (time-varying) ƒ 1st law:
if system parameters do not (do) change in time. ƒ A particle remains at rest or continues to move in a
ƒ Example: Mx’’(t)=f(t) & M(t)x’’(t)=f(t) straight line with a constant velocity if there is no
unbalancing force acting on it.
ƒ For time-invariant systems:
ƒ 2nd law:
ƒ : translational
Time shift Time shift
Sys ƒ : rotational

ƒ 3rd law:
ƒ This course deals with time-invariant systems. ƒ For every action has an equal and opposite reaction
3 4
Translational mechanical elements:
Mass-spring-damper system
(constitutive equations)
Mass Spring Damper
f(t)
f(t) f(t)
f(t)
M x2(t) B x2(t)
K K B

f(t)
f(t) f(t) f(t)
f(t) M
f(t) x1(t) x1(t)
x(t)
x(t)
x(t)
x(t)

5 6

Free body diagram Mass-spring-damper system


Direction of actual force will be
automatically determined by the
relative values! K B

K B x(t)
x(t)
M
ƒ Equation of motion

ƒ Newton’s law: F=ma ƒ By Laplace transform (with zero initial conditions),

(2nd order system)


7 8
Gravity? Automobile suspension system
automobile M1
K
M x1(t)
K
suspension K1 B

wheel M2
x2(t)
M
f(t)
f(t)
tire K2

ƒ At rest,
ƒ y coordinate:
ƒ x coordinate:

9 10

Rotational mechanical elements


Automobile suspension system
(constitutive equations)
Moment of inertia Rotational spring Friction
torque
B
Laplace transform with zero ICs K
J

rotation angle
Block diagram
F X2 X1
G2 G1

G3

11 12
Torsional pendulum system Ex.2.12 Torsional pendulum system

K friction between
K bob and air
J B
J B

friction between
bob and air ƒ Equation of Motion

ƒ By Laplace transform (with zero ICs),

(2nd order system)


13 14

Example Example (cont’d)


ƒ From second equation:
(2nd order system)

ƒ From first equation:


ƒ By Newton’s law

(4th order system)


ƒ By Laplace transform (with zero ICs),
Block diagram
G2 G1

15 16
Rigid satellite Ex. 2.13 Summary & Exercises
ƒ Modeling of mechanical systems
ƒ Translational
ƒ Rotational
ƒ Next, block diagrams.
ƒ Exercises
Thrustor ƒ Derive equations for the automobile suspension
problem.
• Broadcasting
• Weather forecast
• Communication Double
• GPS, etc. integrator

17 18

Exercises (Franklin et al.)


ƒ Quarter car model: Obtain a transfer function
from R(s) to Y(s).
M2
y(t)
y(t) Answer

Ks B

M1
x (t)
Kw
Road surface

19

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