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29 views66 pages

5 Lecture5

Uploaded by

Fabulous Flufferbum
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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UCK303E Automatic Control

Lecture 5: Transfer Functions,


Block Diagrams and
Introduction to feedback
From Last Lecture

• Convolution Idea
• Laplace Transform ( time domain – s domain)
Superposition Principle

• General Signals –
decompose it into a sum
of elementary signals :
– Impulse, exponential, …
Convolution

Convolution
Operator
Convolution Idea

Illustration of convolution as the response of a system to


a series of short pulse (impulse) input signals (1 of 4)
Convolution Idea

Illustration of convolution as the response of a system to


a series of short pulse (impulse) input signals (2 of 4)
Convolution Idea

Illustration of convolution as the response of a system


to a series of short pulse (impulse) input signals
(3 of 4)
Convolution Idea
Illustration of convolution as the response of a
system to a series of short pulse (impulse) input
signals
(4 of 4)
Convolution Idea

Illustration of the representation of a general


input signal as the sum of short pulses
Convolution Idea

Output (y) = homogenous response (y1) + forced response (y2)


Spring-mass- damper system and
Free-body diagram
Spring-Mass-Damper System

= H(s)
Time domain vs. Frequency domain
Impulse response

r(t) =

convolution

R(s) =

Transfer function
This lecture

• We continue with transfer function


representation of dynamic systems.
– Block Diagrams
• Introduction to the feedback concept
Textbook References and Home Assignment

• In this lecture we will cover the topic mainly from


NISE, FPE, Dorf using the excerpts from Prof. Oishi.

• This week’s home assignment Ogata (or the other


textbooks as well) : Review as many examples as you
can from them on dynamic system modeling and
transfer function description. Even solve them without
looking at the solution. Use Matlab to simulate these
models for generic inputs (impulse, step + initial
conditions…)
Electromechanical Device : DC Motor

An armature current controlled


DC motor
-Passive stator magnets

This is a very common actuator.


DC Motor Model
Free-Body Diagram
The armature circuit and the motor

Back emf voltage

Electrical Side Mechanical Side

Coupling coming from theta_dot m or w_m : the motor angular velocity!


For your notes : The most general notation
Equations of Motion of a DC Motor
Block Diagram

: The disturbance load torque


Block Diagram to Transfer Function?

= 0 for now….

Transfer Function :

How do we get there ? Please correct the – sign here to +


Block Diagram Transformations
Signal Sums
Block Diagram Transformations
Block Transformations
Block Transformations
Block Transformations
Closed Loop Transfer Function
Block Diagram Reduction
Block Diagram Reduction
Block Diagram Reduction
Block Diagram Reduction
Example: DC MOTOR Block Reduction
Block Reduction
Block Reduction
Block Reduction

Please correct the – sign here to +

Please correct the – sign here to +


Example : Printer Belt Drive
Free Body Diagram

Do not get into the details of the modelling…


Example : Printer Belt Drive
We will look at the equations of motion later, however for now let’s
concentrate on the block diagram reduction
Example : Printer Belt Drive
Example : Printer Belt Drive
Example : Printer Belt Diagram
Closed Loop Control Behavior
Time response to a disturbance torque (We will touch on this later on…)
Basic Properties of Feedback
Open-loop
Closed-loop
Let’s look at it a little deeper
Example : Automobile Cruise Control
Open-loop Control
What is desired from Feedback?
Feedback Loop
Example : Speed Control
Closed Loop : Transfer Function
Output Response
From open-loop to closed-loop

Reduction in steady state errors!


Steady-State Error
Steady-State Error
Example : Eurotunnel
Example : EuroTunnel Boring Machine
Output and Error Transfer Functions
Steady-State Error
Transient Response Characteristics
Matlab Code
Step Response
Error Responses

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