MECE 3350 - Control Systems

Instructor: Aaron Yurkewich

Agenda

• Introduction

• Course Information

• Introduction to Control Systems

• Differential Equations of Physical Systems

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Introduction
AARON YURKEWICH

Medical Innovations
Human Robot Interaction
Hybrid Exosuits
SURGICAL
ROBOTICS

5
 IMPACT OF
SURGICAL ROBOTS
3D VISION

STERILE

PRECISION

LACK OF SENSORY
FEEDBACK
6
REHABILITATION
ROBOTICS

7
8
 NEURAL
ENGINEERING

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 AUGMENTING MOTOR LEARNING WITH
ELECTRICAL STIMULTION & ACTUATION

RMSE
Trial

Satoshi Endo, Aaron Yurkewich, Hector Lopez Carral, Carmen Krewer, Chiara Höhler, Emilio Trigili¸ Thierry Keller, RehabWeek 2022 10
Course Information
Lectures, Quizzes, Exams Schedule
Tuesday, Thursday 1-4pm, Unfilled Slides will be posted on Canvas before class
Day Topic Day Topic

June 27 Control Systems July 20 Quiz, Root Locus 2

Dynamic Models PID Controllers
June 29 Laplace Transforms July 25 Tuning PID Controllers
Transfer Function Time Domain Review
July 4 Effect of Pole Locations July 27 Quiz, Bode Plots
Block Diagrams
July 6 Quiz, Steady State Error Aug 1 Nyquist Stability Criteria
Transient Response Nyquist Plots
July 11 Dominant Poles & Zeros Aug 3 Quiz, Phase and Gain Margins
Routh-Hurwitz Stability State Space Models
July 13 Quiz, Review, Root Locus 1 Aug 8 Review

July 18 Midterm Aug 9-13 Final Exam 12

Midterm and Final Exam Information
• Midterm (20%) – Material from lectures 1-5
• One-sided handwritten A4 sheet allowed
- No fully-solved solutions in numeric form
- Sheet submitted with exam

• Final Exam (30%) – All material

• Two-sided handwritten A4 sheet allowed
• Minimum of 40% required to pass the course

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Labs (20%)
• Read the lab manual before the lab
• Prelabs will be completed at the start of class
• Lab reports are individual and due 6 days after the lab
• Labs begin July 5

TAs
• Monday: Farshad Samadpour Samarin,
[email protected]
• Wednesday: Haniyeh Fathi, [email protected]

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Assignments (20%)
• 4 questions per assignment
• 2 of these questions will be demonstrated during tutorial
• Assignments will be posted Friday and due the next Friday,
starting July 7

TAs
• Monday: Haniyeh Fathi
• Tuesday: Farshad Samadpour Samarin
Junwoo Kim, [email protected]
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Anonymous Class Survey

https://forms.gle/d1CfAAPNyR7qrxqdA 16
Introduction to Control Systems
Learning Outcomes
• Open Loop Control Systems
• Closed Loop Control Systems
• Noise, Disturbance and Model Changes
• Multi-Input Multi-Output Systems
• Importance of Controls Engineering

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Open Loop Control Systems

human presses throttle car

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Open Loop Control Systems

speed input microcontroller throttle car

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Closed Loop Control Systems

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Closed Loop Control Systems

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Disturbance, Noise & Model Changes
car
hill
Model
Change

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Multi-Loop Control Systems

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Multi Input Multi Output (MIMO)

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Control System Applications
Model
Change

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Design Stages

Establish Goals, Model and Design, Simulate

Variables & Design the and Analyze the
Specifications Process Control System

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Importance of Controls Engineering
“Professional engineers are
responsible for the accuracy, “Any sufficiently advanced
completeness and acceptability of technology is indistinguishable
all aspects of the services they from magic.”
provide, including information - Arthur Clarke
obtained using software” - PEO

Employment Prerequisite for many courses

MECE 3390U – Mechatronics
METE 3100U – Actuators and Power Electronics
MANE 4280U – Robotics and Automation
…
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Questions?
Dynamic Models
Learning Outcomes
• Mass Spring Damper Friction Systems
• Rotational Systems
• Electrical Systems
• Linear Systems

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Translational Components

Component Equation Symbol Example

x1 x2
Spring F = k (x2-x1)

v1 v2
Damper F = b (x2’-x1’)

v2
µ Mass
Friction F = µ (x2’)

a2
Mass F = m (x2’’) Mass

Viscous friction coefficient µ can be N/(m/s)

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Translational Systems
x0
k Draw the free body diagram

x1
m F(t)

µ
b

Write the equation of motion

Exercise: Write the equation of motion in terms of velocity instead of position 33

Rotational Components

Component Equation Symbol Example

θ1 θ2
Torsion Spring T = k (θ2-θ1)

ω1 ω2
Rotational Damper F = b (θ2’-θ1’)

Polar ⍺2
Rotating Mass F = J (θ2’’) Inertia

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Electrical Components

Component Equation Symbol Example

Resistor v=Ri

v’ = 1/C * i
! Steady state:
Capacitor v = ∫ 𝑖 𝑑𝑡 v’ = 0, so i = 0,
"
Open Circuit
Steady state:
Inductor v = L i’ i’ = 0, so v = 0,
Closed Circuit

v stands for voltage

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 Electrical Systems
Draw the current flow diagram

i
v(t) +
-

Write the equation of current

Exercise: Plot the response in Matlab 36

 Linear Systems
Non-Linear
x2 = y
x y=x2
x Process y input2

x1 input2 y1=x12

x2 input2 y2=x22

x1 + x2 Process y1 + y2 Superposition x1+x2 input2 y12=(x1+x2)2

A*x Process A*y Homogeneous x+b=y

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Linear Approximations
x x = L * sinθ
x=L*θ

Small Angle Assumption

# #
Exercise: Make a table of sinθ versus θ from − $ to $
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Questions?
Example Questions
Question 1: Find the Differential Equations

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Question 2: Find the Differential Equations

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Matlab Training
Questions?