MECH 3610 Control Principles

Lilong Cai
Department of Mechanical and
Aerospace Engineering
HKUST
[email protected]

1
Outline
•Introduction
-What is a control?
- Concept of feedback control
- Brief history of automatic control
- Control applications
-Syllabus
-Terms and concepts
-Examples of modern control
-Control design procedures
-Examples
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 What is Control?
The word control is usually taken to
- regulate, What do you do when you feel cooled ?
- direct, ….?
- command.
Control is a sequence of decisions and actions aimed at
the attainment of specified objectives in an environment
of uncertainty and presence of disturbances.

To control an object means to influence its behavior so

as to achieve a desired goal. In order to implement this
influence, engineers build devices that incorporate various
mathematical techniques.
3
The concept of feedback (Why and How)
Water

Steam

Float

Boiler water-lever
regulator
Valve
Heat

With the water-lever regulator the boiler

can be operated automatically. 5
 The concept of feedback
• Speed control of a steam engine

? ?
?

7
 Brief History of Automatic Control
18th Century (1769) James Watt’s centrifugal governor for the speed control of a steam
engine developed.
1920s Minorsky worked on automatic controllers for steering ships.
1930s Nyquist developed a method for analyzing the stability of controlled systems
1940s Frequency response methods made it possible to design linear closed-loop control
systems
1950s Root-locus method due to Evans was fully developed
1960s State space methods, optimal control, adaptive control and
1980s Learning controls are begun to investigated and developed.
Present and on-going research fields. Recent application of modern control theory
includes such non-engineering systems such as biological, biomedical, economic and
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socio-economic systems, from GPS to Internet of Things (IoT)
 The Discipline of Control
• The central goal of control engineering is the design
of a technically feasible way to act on a given
process so that it behaves in a prescribed manner.
• Control is a key enabling technology in all braches
of engineering.

• It is often invisible to the user.

• Most modern industrial plants could not operated

without control systems.
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 Applications of Control
• Control is used in a variety of devices to obtain
performance that simply would not be attainable
otherwise.
• Black invention of feedback amplifier
• Airplane autopilots
• Disk drives and CD player
• Cellular phones
• ABS in cars
• Unman vehicle , Drone
• Etc.…..

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 Use of Control Theory

• Systems and control theory can be used to understand

• Biological systems
• Cell regulation mechanisms
• Population dynamics
• Epidemiology

• Economic systems
• Inflationary mechanisms
• Fiscal policies
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 Goals of the Course
• Understand the role of control in engineering systems

• Know key ideas and concepts of Dynamics and Feedback

• Understand relevant mathematical theory

• Be able to solve simple control design problems

• Know relevant computational tools

• Recognize difficult control problems

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 Syllabus
Course Description:
Introduce to basic control concepts, system equation, block diagrams, signal flow
graphs, transient response using convolution integral, root locus and frequency
response methods. Design controller using root locus, PID, frequency response, and
phase compensation techniques, Nyquist stability test.

T.A.: Abdul WAHEED [email protected] , Rm 4226A, Tel:34692786 (Ex. 2786)

Yang QU [email protected] , Rm 4226A, Tel:34692786 (Ex. 2786)
Qingshi XU [email protected] , Rm 4226A , Tel: 23588815 (Ex. 2786)

Grading Policy: Homework 15% and Lab. 5%

Midterm Exam: 35%
Final Exam: 45%
Textbook:. MODERN CONTROL SYSTEMS, 13th edition, by Richard C. Dorf.
Supplementary Texts: Modern Control Engineering, 3nd edition, by Katsuhiko Ogata
Feedback Control of Dynamic Systems, 2nd edition,
by G. F. Franklin, J. D. Powell and A. Emami-Naeini.
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More to be find at Canvas
 Terms and Concepts
System – An interconnection of elements and devices for
a purpose.

Control System – An interconnection of components forming

a system configuration that will provide a
desired response for a given process.

Process – The device, plant, or

system under control. The input
and output relationship represents
the cause-and-effect relationship Process to be controlled.
of the process. 14
 Terms and Concepts
Two Types of Control Systems

• Open Loop • Closed Loop

-No feedback -Must have feedback
- Difficult to control -Must have sensor on
output with accuracy output
-Almost always negative
feedback

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 Terms and Concepts
Open-Loop Control Systems utilize a controller or control
actuator to obtain the desired response.

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 Terms and Concepts
Closed-Loop Control Systems utilizes feedback to compare the
actual output to the desired output response

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 Terms and Concepts
• Typical Feedback Loop

Figure 1.3 Closed-loop feedback control system (with feedback).

The sensor and the actuator are key components of feedback loop.

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 The concept of feedback

(+)
Water Desired Actual
Water Water
lever level
Steam
Float
?

Valve
Boiler water-lever
regulator
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The concept of feedback
Desired
speed Actual
speed

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 Terms and Concepts

The idea of feedback:

• Compare actual behavior with desired behavior
• Take corrective action based on the difference (error)
• Deceivingly simple idea, but very powerful concept
• Feedback is a key idea in control
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 Terms and Concepts

Quiz: Open-loop and Closed-loop control system? 22

 Terms and Concepts
There are two broad classes of control problems

• The regulator problem:

Controlled output is held as close as possible to a constant
set-point, despite disturbances.

Temperature control, water lever control, etc.

• The servomechanism or tracking problem:

Controlled output follows as closely as possible a time-
varying command, despite disturbances

Tanker autopilot, radar tracking device

23
 Terms and Concepts
An Example of tracking problem

24
Terms and Concepts

25
Examples of Modern Control Systems
(a)Automobile steering
control system.
(b) The driver uses the
difference between the
actual and the desired
direction of travel
to generate a controlled
adjustment of the steering
wheel.
(c) Typical direction-of-
travel response.

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 Examples of Modern Control Systems
How to maintain the clear photos by auto focus

1 1 1
+ =
𝑓𝑓+𝑥𝑥0 𝑓𝑓+𝑥𝑥𝑖𝑖 𝑓𝑓
 Examples of Modern Control Systems
• Ultrasonic • Phase detection
• Infrared light • Contrast detection

System
Desire Histogram +
Controller Lens Clear Picture
-

Measured Histogram
Sensor
Examples of Modern Control Systems

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Examples of Modern Control Systems

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The Future of Control Systems

Autonomy

Flexibility

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 Control System Design
Control System Design

Conceptual
Design

Quantitative
Design

Hardware
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Implementation
Design 1

Chapters 1,3, and 4

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Design 2

Chapters 2-4

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 Design 3

Optimization: The adjustment of the parameters to achieve the

most favorable or advantageous design.
Chapters 4-9
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Design Example

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 1800 and 7200 rpm

Track number ?

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 Design Example

Step 1. Control goal

• Design a system that will held the position the reader

head to read the data stored on a track on the disk.

Step 2. Variable to be controlled

• Position of the reader head

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 Design Example

Step 3. Control design specification

• Design a system that will ensure that the head :

- “flies” above the disk at a distance of less than
100 nm,
- with the position accuracy is 1 µm,
- with speed from track to track 50 ms

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 Design Example
Step 4. Preliminary system configuration

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Example

43
Example
What is the shaper of the train wheel that
make the turning possible ?

44
 Example
V = rω
Vleft = rleft ω
Vright = rright ω

Vleft =Vright ⇒ straight ⇒ rleft =rright

Vleft > Vright ⇒ turing right ⇒ rleft > rright
Vleft < Vright ⇒ turing left ⇒ rleft < rright

Shape of the wheel 45

Examples

46
Examples
A control system for a high-performance car with
an adjustable wing:

47
Example

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 • The student-teacher learning process is inherently
Examples a feedback process intended to reduce the system
error to a minimum.
• Construct a feedback model of the learning
process and identify each block of the system

& HW

How can students survival or thrived the class?

By asking questions, understanding the concepts and practice to gain thoroughly
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understanding the subject and can apply it to solve problems.
 Examples
The story is told about the sergeant who stopped at the jewelry store every morning at
nine o’clock and compared and reset his watch with the chronometer in the window.
Finally, one day the sergeant went into the store and complimented the owner on the
accuracy of the chronometer.
“Is it set according to time signal from Arlington?” asked the sergeant.
“No,” said the owner, “ I set it by the five o’clock (PM) cannon fired from the fort. Tell
me, Sergeant, why do you stop every day and check your watch?” The Sergeant relied,
“I am the gunner at the fort”.
Is the feedback prevalent in this case positive or negative? The jeweler’s chronometer
loses two minutes each 24-hour period and the sergeant’s watch loses three minutes
during each eight hours. What is the net time error of the cannon at the fort after 12
days?

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Chronometer watch
From Wikipedia, the free encyclopedia

• A chronometer (from Ancient Greek χρονόμετρο) is a specific type

of mechanical timepiece tested and certified to meet certain precision
standards. In Switzerland, only timepieces certified by the Contrôle
Officiel Suisse des Chronomètres (COSC) may use the
word chronometer on them. Outside Switzerland, equivalent bodies
(such as the Japan Chronometer Inspection Institute) have in the past
certified timepieces to the same internationally recognized standards,
although use of the term has not always been strictly controlled.
 Examples
The story is told about the sergeant who stopped at the jewelry store every morning at
nine o’clock and compared and reset his watch with the chronometer in the window.
Finally, one day the sergeant went into the store and complimented the owner on the
accuracy of the chronometer.
“Is it set according to time signal from Arlington?” asked the sergeant.
“No,” said the owner, “ I set it by the five o’clock (PM) cannon fired from the fort. Tell
me, Sergeant, why do you stop every day and check your watch?” The Sergeant relied,
“I am the gunner at the fort”.
Is the feedback prevalent in this case positive or negative? The jeweler’s chronometer
loses two minutes each 24-hour period and the sergeant’s watch loses three minutes
during each eight hours. What is the net time error of the cannon at the fort after 12
days?
Assume that the cannon fires initially at exactly 5:00 p.m..
16 4
Chronometer: From 5:00pm → 9:00am =16 hours: error: × 2 = min .
24 3
Watch: From 9:00am → 5:00pm= 8 hours: error: 3min .
4 13
Δt total =
+3= min . Positive feedback ?
3 3
13
Total error after 12 days: Δt total = 12 × = 52min. 52
3
 Example: Wire bonding process

ASM Eagle 60
ASM PACIFIC TECHNOLOGY
• https://www.youtube.com/watch?v=OBj7OPxe88o
• Innovation Centre video
• https://www.youtube.com/watch?v=qnwYZnOeK7k
Examples: Robots
• Murata Boy, the Robot that can Ride Bicycles
• https://www.youtube.com/watch?v=G3_0OzaoQ00
• https://www.youtube.com/watch?v=mT3vfSQePcshtt
ps://www.youtube.com/watch?v=mT3vfSQePcs
Honda's Asimo: the penalty-taking, bar-tending robot
• https://www.youtube.com/watch?v=QdQL11uWWcI

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 Terms and Concepts
Typical Feedback Loop

?
Desired Actual
output Closed-loop output
Chapter 2 55