Aims of the Control section Questions that may be asked: * What is Control System? * Why are control systems important? * What are the basic components of a control system? * What are the applications? * Why is feedback incorporated into most control systems?Aims of the Control section Some answers * To understand why control is useful for engineering students * To understand essential dynamic concepts for typical engineering systems * To recognise the value of integrated control and system design * To understand dynamic and feedbacks * To know relevant mathematical theory and techniques * To be able to solve simple control problem * To be able to use computational tool (e.g. Matlab/Simulink)Component — System - Control System * Component Basic elements in System and Control System Example: sensor, controller, actuating device (valve, motor) etcComponent — System - Control System * System “combination of components that act together and perform a certain objective” By K, Ogata “Modern control engineering”Component — System - Control System * Control System “A device that is used to manipulate the output of a process or mechanical system at desired level” s¢ -point By K, Ogata “Modern control engineering”Component — System - Control System * Control System “An interconnection of components connected in such a manner as to command, direct, or regulate itself or another system.” By C. W. de Silva “Mechatronics — an integrated approach”Picture from: htp:!/maybach300c.blogspot.co.uk* James Watt * 1736-1819 * Invertor of early example of a feedback system — Centrifugal (flyball) GovernorCentrifugal Flyballs Governor * The shaft of steam engine is connected to a flyball mechanism that is itself connected to the throttle of the steam engine * When speed increases (due to lessening of load), the flyballs spread apart and a linkage causes the throttle on the steam engine to be closed * This slow down the engine, which causes the flyballs to come back together * With a proper design, the flyball governor maintains a constant speed of the engine (independent of the loading conditions)F 1K We weyrt(W) Viselaamet (m) ie) - System Dynamic ds Ce ] * System Dynamic { M its t f System Dynamic predicts how the outputs of a system vary for all possible variations in its inputs Prep) wunm the ES vlan [component Fw) * System Dynami¢ Modelling A process to look at pattern of behaviour of a system dnd seek to understand the underlying structure of relationships outputs. Normally this involves derivation of mathematical m Me + molto". 0" - % Cu vine i msiion Yemet ec mers (ln ‘) ne — ge. («sterorel woton) m: 2Simple example Femas m gv * Modelling of a falling parachutist ate * Using Newton’s 2"4 law of motio o(F=ma) + Fp= mg, force due to gravitational force + Fy =,ev, friction related to velocity * F—total force F * v—velocity * c— friction coefficient * the equation is a differential equation in terms of the differential rate of change dv/dt of the variable that we are interested in predicting * However, this does not consider:- * External disturbances such as wind gust, turbulences, rain * May involve non-linear friction term * Dynamic may change with timeSystem Dynamic Representation * 1% Principle equations * Using the informed theoretical equation to represent component and system dynami * Newton’s second law of motion (linear), F=ma 2 * Angular motion, T =/2 = oe | Fe MA = =m = os, * Ohm’s Law, V =/R— ye EE * Transfer Function (TF) * Mathematical representation of the relation between input and outp and output of a linear time-invariant system. ¥(s)_-=(output) H(s)= -- (output) U(s) -- (input) Pow). te dant ies = | * Example — Electrical Drive jigs =T a * Taking Laplace Transformation (LT) LT: Js? @(s)=T(s) eee — Ws) _ 1 frequen | TE: = T(s) Js domainTransfer Function used in feedback control system pe Reference setpoint gale Rrom stumper she —~>~ Yystem (ne actuator process an Te 1 K ¥(s) s K, +>} — |} > G+3) (> + = S _ we Te ait whines core s+l |< Aap her transducer . “Ss w°COpen-loop Control System Open-loop control system is ... system in which the output has no effect on the control action; inputs are known ahead of time Example: * Washing machine (soaking, washing, rinsing which operate on the time basis), machine does not measure the output signal which is cleanliness of the clothing (Partially) * Hair dryer etc * Accuracy of results depends on calibrationOpen-loop Control System — Block Diagram >| G(s) >| G(s) >| Gps) es) controller actuator/ Process/ valve plant load = disturbance + + +| G(s) > G(s) >| G(s) > C(s) controller actuator/ Process/ valve plantOpen-loop Control System * What are advantages/disadvantages of open-loop control system? Possible advantages * Easy to build * Less component needed, lower cost and power Possible disadvantage * Stability is a problemClosed-loop Control System Closed-loop control system is ... system in which the output is fed back to the system Example: * Thermostat heating system * Car compartment temperature control system * Human body (keep body temperature, blood pressure constant by feedback)Closed-loop Control System — Block Diagram R(s) R(s) G(s) | _______, G(s) >| Gps) > C(s) feedback actuator/ process/ controller valve plant load = disturbance + + G(s) | ______,} G{s) |__4| G,(s) ey Cs) feedback actuator/ process/ controller valve plantClosed-loop Control System * What are advantages/disadvantages of closed-loop control system? Possible advantages * System maintains in the prescribed order/relationship between the output and the reference input * Relatively insensitive to the external disturbance and internal variations in system parameters pian te oy” 8 Possible disadvantage ? e * Use more components, higher cost and power * No correction is taken until after the controlled variable/has changedExamples * Central Heating System (temperature) Cylinder thermostat: regulates the flow of primary water through the heat exchanger. Programmer: a ‘timer’ and electronic co-ordinator of signals from thermostats. Thermostatic Radiator Valve (TRV); enables room-by-room temperature control (by clesing down radiators) x Pump: fitted atan appropriate point on the flow pipe of the primary circuit, =| >t Room thermostat: controls the space heating by Motorised valves: switches. Typical controls on a vented central switching off boiler when a direction of the primary ” set temperature is reached. Saul. heating system Picture from: htps:/lenvironment7 uwe.ac.ukExamples * Water level control (level) Controller Feedwater pump om CE Picture from: www.spiraxsarco.comFeedback Control System Reference etpoin Controlled [_veriable__4 Manipulated R(s) eral ~ Yis) ee 7 At (s+ > : : controller System oe process s+l |< Feedback signal transducer TTDefinitions * Controlled variable * It is the quantity or condition that is measured or controlled * Manipulated variable * It is the quantity or condition that is varied by the controller so as to affect the value of the controlled variable * Process/Plant/System * Any operation to be controlled * Disturbances * It is a signal that tends to adversely affect the value of the output of a system * Internal disturbance: generated within with system * External disturbance: generated outside the system * Feedback control * It is an operation that the controlled variable is fed back to the system so that the difference between the output of a system and some reference input can be reduced.