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Lesson 1: Introduction to Control

Systems Technology
ET 438a
Automatic Control Systems Technology

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Learning Objectives
After this presentation you will be able to:

 Explain the function of an automatic control

system.
 Identify a block diagram representation of a
physical system
 Explain the difference between an open loop and
closed loop control system
 Define a transfer function and compute the gain
for sinusoidal input/output cases.
 Reduce block diagram systems using algebra.

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The Control Problem

Fundamental Control Concepts
Maintain a variable of process at a desired value
while rejecting the effects of outside
disturbances by manipulating another system
variable.

Examples:
Heating and Cooling homes and offices
Automobile cruise control
Hold the position of a mechanical linkage
Maintain level in a tank

h Qout depends on h
If Qout = Qin, h constant
Qout > Qin, tank empties
Qout < Qin, tank overflows

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Basic Subsystems of Control

Feedback Control Subsystems
Measurement
Control decision
System modification

Measurement-
sight glass

Control Decision
Human adjusts Qout to
maintain h =H

Reference
(setpoint)
h = control Process-
Final Control
variable Maintain tank
Element
level
lesson1et438a.pptx Valve
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Automatic Control Systems

Use sensors and analog or digital electronics to monitor and adjust system
Level
Measurement Elements of Automatic Control
Sensor Process – single or multiple variables
Measurement – sensors
Error Detection – compare H to h
Controller
Controller – generate corrections
Final Control Element – modify
Final control
process
element

Valve Position
Maintain level
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Block Diagrams
Automatic control systems use mathematical descriptions of
subsystems to reduce complex components to inputs and outputs

Input signal Control System Output signal

Component

Energy
Source
(Optional)
Signals flow between components in system based on arrow direction

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Typical Component Block Diagrams

T (°C) Vin (V)

Temperature
Amplifier
Sensor
Vout (mV) Vout (V)

Valve Position
(% Open)
Control
Dc Motor
Valve
Armature V n (rpm) Liquid Flow
Va (V) (m3/s)

Error
L (ft) E (V)
Level Controller
Transmitter
Current Correction
(mA) V (V)

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Transfer Functions
Transfer function - ratio of the output to the input of a control system
component. Generally a function of frequency and time.

A∙sin(wt+a) B∙sin(wt+b)
G
Block
Gain

Convert to phasors and B OutputSignal Bb B

G    b  a
divide A Input Signal Aa A

Phase shift related to time

delay
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Transfer Functions
Examples
Example 1-1: Find transfer function of temperature sensor in block diagram

T (°C) OutputSignal Vout

Temperature G  mV/C 
Sensor Input Signal T
Vout (mV)

Example 1-2: a current-to-voltage converter takes an input of 17.530° mA and produces

an output of 8.3537° V Determine the transfer function gain and sketch the block diagram.

Iin  17.530 mA
Iin (mA) I-to-V
Vo  8.3537  V Converter
OutputSignal V o 8.3537  V G Vout (V)
G    V/ mA
Input Signal Iin 17.530 mA
G  0.4777  V/ mA

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Open-Loop Control
Open loop control modifies output based on predetermined control
values. There is no actual measurement of controlled quantity.

Controller Tank level may vary

with outside
Final control disturbances and
element system changes

Valve Output Tank

setting flow Level
Control
Controller Tank
Valve

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Closed Loop Control

Closed loop control modifies output based on measured values of the
control variable. Measured value compared to desired value and used
to maintain desired value when disturbances occur. Closed loop
control uses feedback of output to input.

Desired Valve Output

Value setting flow Tank
Level
Control
+ Controller Tank
- Valve

Level
Measurement

Measured
level
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Closed Loop Control

Example: Auto Cruise Control Disturbances
Fuel Mechanical
flow Power
Actual
Set Speed Speed
Fuel
+ Controller Engine Auto
- Injectors

Error
Speed Sensor

Disturbances: Up hill/ down hill

Head wind/ tail wind

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Generalized Closed Loop Control

Block Diagram of Servo Control-Example Positioning Systems

R E=R-Cm Controller C
+
- G=C/E

Cm
Measurement
H=Cm/C

Reference = R Measured Variable = Cm

Error = E
Controlled Variable = C
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Generalized Closed Loop Control

Find overall transfer function using signal flow algebra

(Input)(Gain)=(Output)
C
For servo control Find
R
Cm
1 E  R Cm
3 H  C  H  Cm
C
2 C
G  EG  C 1 3 E  R C
CmH E
E

(R  C  H)  G  C
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Overall Transfer Function-Servo Control

C
Find
R
1 2 3
(R  C  H)  G  C
R G -CHG  C Multiply through by G

R G  C  CHG Add CHG to both sides

R  G  C  (1  G  H) Factor C out of right hand side

R G
C Divide both sides by (1+GH)
(1  G  H)
G C
 Divide both sides by R
(1  G  H) R

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Generalized Closed Loop Control

Block Diagram of Process Control-Example Chemical Reactors
E=R-Cm
SP Control V Manipulated M C
Process
+ Modes Variable
- Gp=C/M
Gc=V/E Gm=M/V

Cm Measurement
D=Disturbances
H=Cm/C

Setpoint = SP Measured Variable = Cm

Error = E
Manipulated Variable = M
Controlled Variable = C
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Overall Transfer Function- Process

Control
Find overall transfer function of process control using signal flow algebra

V M C
Series blocks multiple Gc  Gm  Gp 
E V M

V  M  C 
G  Gc  Gm  Gp         
 E   V  M
C 
G  
E 
Find overall transfer function Cm/SP C not directly measurable in
process control
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Overall Transfer Function- Process

Control
Cm
As before E  SP  Cm Cm  H  C  C
H
GE  C
G  (SP  C m )  C Substitute in for E
Cm
G  (SP  C m )  Substitute in for C eliminate it
H
G  H  (SP  C m )  C m Multiple both sides by H
G  H  SP  G  H  C m  C m Multiple L.H. side by GH
G  H  SP  C m  G  H  C m Add GHCm to both sides
G  H  SP  C m  (1  G  H) Factor Cm from right side
G  H  SP
 Cm Divide both sides by (1+GH)
1 G  H
GH C
 m Divide both sides by SP
1  G  H SP
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Control System Drawings

Industrial system standard ANSI/ISA-S5.1-1984 Uniform designation for
Instruments, instrument systems and control.
Functional
Identifier Instrument Line Symbols
3-15 psi
Loop pneumatic
Identifier line
General Instrument
Symbol 4-20 mA
electric
First ID Letter Following ID Letter current
A = Analysis C= Controller
L = Level I=Indicator
T = Temperature R=Recorder Filled System
Capillary
T= Transmitter
V = Valve
Y = Relay/Converter
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Control System Drawings

Water Syrup
Supply Supply
101 =level control
LV
101 102 = temperature control
I/P
103 = concentration control
Current to
Pneumatic
LY
101 4-20 mA
AV
Converter 103 current
LIC LT
101 101

Concentration
Valve
Heating Fluid ARC
Supply 103
TV
102 Concentration
Recorder/Control

AT Syrup
Heating Fluid 103 Concentration
TIC TT
Return Concentration
102 102
Transmitter
Heated Product

Temperature Transmitter

Temperature Indicator/Control
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Linear and Non-linear Response

Linear R esponse
2
Output

2
0

Output
0
2
1 0.5 0 0.5 1
Input

2
15 10 5 0 5 10 15
Linear transfer functions give proportional
Time
outputs. In this case the factor is 2 Input
Output

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Non-linear Response
Saturation Non-Linearity
1

Saturation Non-Linearity
Input Signal

10 0
Output

0
1
15 10 5 0 5 10 15
Time
Input Signal
10

3 2 1 0 1 2 3 Saturation Non-Linearity
Input 1
Output Signal

Saturation non-linearity typical of practical systems

that have physical limits. Amplifiers, control valves 0

1
15 10 5 0 5 10 15
Time
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Other Non-Linearities
Hystersis Non-Linearity General Non-Linearity
2 40

1 20
Output

Output
0 0

1
20

2
4 2 0 2 4 40
Input 3 2 1 0 1 2 3
Input

Typical in magnetic circuit and in Non-linearities cause distortion in sine waves

instrumentation transducers response that is not proportional to inputs value
for all signal values.

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Block Diagram Simplifications

R + C R C
G C G

- R 1 G  H
H
Block diagram at left simplifies to the above.
Can use this to reduce multiple loops into one
Block.
Also remember that blocks in series multiply
G  G1  G 2  G 3

G1 G2 G3 G1G2G3

Equivalent Block

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Block Diagram Simplification Example

R + C
+
G1 G2 G3
- - C1
R1
H1

H3 H2

C1 G2 H
 Reduce the inner loop
R1 1  G 2  H1
H  H 2  H3 Combine outer feedback block

Combine reduced inner loop with remaining forward gain blocks

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Block Diagram Simplification Example (1)

R + C
G2
G1 G3
- 1  G 2  H1

H=H2H3

 G2   G1  G 2  G 3 
G  G1     G3   
Compute the value of G
1  G 2  H1   1  G 2  H1 
 G1  G 2  G 3 
 1 G  H 
C G  1 
  2

R 1 G  H  G1  G 2  G 3  Substitute the values of G and H into formula

1    H 2  H3 and simplify
 1  G 2  H1 
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Block Diagram Simplification Example (2)

 G1  G 2  G 3 
 1 G  H 
C G  1 
  2

R 1 G  H G G G 
1   1 2 3   H 2  H3
 1  G 2  H1 

Multiply top and bottom of ratio by (1+G2H1) and simplify

 G1  G 2  G 3 
 1  G  H   1  G 2  H1 
C  1  G1  G 2  G 3
 2

R   G1  G 2  G 3    G1  G 2  G 3  H 2  H 3 
1  
   H 2  H 3   1  G 2  H1  1  G 2  H1   1  G 2  H1    1  G 2  H1 
  1  G 2  H1    

C G1  G 2  G 3
 Answer
R 1  G 2  H1  G1  G 2  G 3  H 2  H 3

Reduced R G1  G 2  G 3 C
block 1  G 2  H1  G1  G 2  G 3  H 2  H 3

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End Lesson 1: Introduction to

Control Systems Technology
ET 438a
Automatic Control Systems Technology

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