Automatic Control Technology 1.

01 Chapter 1

01. Concept and Basic

Principles

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.02 Chapter 1

1.1. INTRODUCTION
❑ The Role of Control

Household Medical Production & Service

appliances equipment
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Automatic Control Technology 1.03 Chapter 1

1.1. INTRODUCTION
❑ The Role of Control

Exploring & Observing Military field

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Automatic Control Technology 1.03 Chapter 1

1.1. INTRODUCTION
❑ The Role of Control

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.03 Chapter 1

1.1. INTRODUCTION
❑ The Role of Control

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.04 Chapter 1

1.1. INTRODUCTION
❑ A control system
- is a collection of components working together under the direction of
some machine intelligence.
- is a group of components that maintain the desired result by manipulating
the value of another variable in the system.

➢ In most cases, electronic circuits provide the intelligence, and

electromechanical components such as sensors and motors provide the
interface to the physical world.
➢ A control system often includes an output response to an input.
Automatic Control Technology 1.05 Chapter 1

1.1. INTRODUCTION
❑ Modern automobile:
➢ Various sensors supply the on-board computer with information about the
engine’s condition.
➢ The computer then calculates the precise amount of fuel to be injected
into the engine and adjusts the ignition timing.
➢ The mechanical parts of the system include the engine, transmission,
wheels, and so on.
➢ To design, diagnose, or repair these sophisticated systems, you must
understand the electronics, the mechanics, and control system principles.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.06 Chapter 1

1.1. INTRODUCTION
➢ In a modern control system, electronic intelligence controls some
physical process

➢ In many cases, machine intelligence is better than direct human control

because it can react faster or slower

➢ Control systems can be classified in several ways

▪ A regulator system.
▪ A follow-up system.
▪ An event control system.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.07 Chapter 1

1.1. INTRODUCTION
❑ A regulator system automatically maintains a parameter at (or near)
a specified value.

➢ Example: A home-heating system maintaining a set temperature despite

changing outside conditions.
▪ Control object: Temperature → Amount of fuel → Fuel valve
▪ Components: actuator for fuel valves, temperature sensors.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.08 Chapter 1

1.1. INTRODUCTION
❑ A follow-up system causes an output to follow a set path that has been
specified in advance.
➢ An example is an industrial robot moving parts from place to place.

❑ An event control system controls a sequential series of events.

➢ An example is a washing machine cycling through a series of
programmed steps.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.09 Chapter 1

1.2. HISTORY OF CONTROL SYSTEMS

❑ Control of liquid level
➢ Man-made control systems have existed in some form since the time of
the ancient Greeks (300 B.C).
➢ Water clock is invented by Ktesibios. He put small water into a container
with constant speed, the water level in the container indicates the time.
➢ The pool had a concealed float-ball and valve arrangement similar to a
toilet tank mechanism. When the water level lowered, the float dropped
and opened a valve that admitted more water.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.10 Chapter 1

1.2. HISTORY OF CONTROL SYSTEMS

❑ Control of Pressure
➢ Denis Papin invented safety valves to control steam pressure in 1681.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.11 Chapter 1

1.2. HISTORY OF CONTROL SYSTEMS

❑ Control of Speed
➢ Spindles invented by Jame Watts.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.12 Chapter 1

1.2. HISTORY OF CONTROL SYSTEMS

❑ Electrical control systems are a product of the twentieth century
➢ Electromechanical relays were developed and used for remote control of
motors and devices.
➢ Relays and switches were also used as simple logic gates to implement
some intelligence.
➢ Using vacuum-tube technology, significant development in control
systems was made during World War II.
➢ Dynamic position control systems (servomechanisms) were developed
for aircraft applications, gun turrets, and torpedoes.
➢ Today, position control systems are used in machine tools, industrial
processes, robots, cars, and office machines, to name a few.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.13 Chapter 1

1.2. HISTORY OF CONTROL SYSTEMS

❑ Electrical control systems are a product of the twentieth century
➢ Meanwhile, other developments in electronics were having an impact on
control system design.
➢ Solid-state devices started to replace the power relays in motor control
circuits.
➢ Transistors and integrated circuit operational amplifiers (IC op-amps)
became available for analog controllers.
➢ Digital integrated circuits replaced bulky relay logic.
➢ Finally, and perhaps most significantly, the microprocessor allowed for
the creation of digital controllers that are inexpensive, reliable, able to
control complex processes, and adaptable (if the job changes, the
controller can be reprogrammed).

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.14 Chapter 1

1.3. BLOCK DIAGRAM AND TRANSFER FUNCTIONS

❑ Block Diagram
Each element in the system receives an input signal from several
parts of the control system and creates an output signal that
enters other elements.

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Automatic Control Technology 1.15 Chapter 1

1.3. BLOCK DIAGRAM AND TRANSFER FUNCTIONS

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.16 Chapter 1

1.3. BLOCK DIAGRAM AND TRANSFER FUNCTIONS

❑ Transfer Function
A transfer function (TF) is a mathematical relationship between the input
and output of a control system component. Specifically, the transfer function
is defined as the output divided by the input, expressed as
y(t)
TF =
x(t)

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.17 Chapter 1

1.4. BLOCK DIAGRAM AND TRANSFER FUNCTIONS

➢ Example: A system with three transfer functions

Determine velocity of object when providing 12 V for the motor:

Velocity = 0.05 * 0.5 * 100 * 12 = 30 m/min

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Automatic Control Technology 1.18 Chapter 1

1.3. BLOCK DIAGRAM AND TRANSFER FUNCTIONS

➢ Transfer function of an open-loop system:

➢ Transfer function of a closed-loop system:

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Automatic Control Technology 1.19 Chapter 1

1.4. OPEN-LOOP CONTROL SYSTEMS

❑ In an open-loop control system, the controller independently calculates
exact voltage or current needed by the actuator to do the job and sends it.

➢ With this approach, however, the controller never actually knows if the
actuator did what it was supposed to because there is no feedback.

➢ This system absolutely depends on the controller knowing the operating

characteristics of the actuator.

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Automatic Control Technology 1.20 Chapter 1

1.4. OPEN-LOOP CONTROL SYSTEMS

❑ A simple open-loop position control system:

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Automatic Control Technology 1.21 Chapter 1

1.4. OPEN-LOOP CONTROL SYSTEMS

➢ Example: Position control system of an antenna

- Initial position: 00
- Desired position: 300
- Motor: 10/second (at define
voltage)

• To get desired position, controller need to provide signal pulses in 30 seconds.

• If motor work accurately, position of antenna is stopped at 300.

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Automatic Control Technology 1.22 Chapter 1

1.4. OPEN-LOOP CONTROL SYSTEMS

➢ Example: Motor speed control system

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Automatic Control Technology 1.23 Chapter 1

1.5. CLOSED-LOOP CONTROL SYSTEMS

❑ In a closed-loop control system, the output of the process (controlled
variable) is constantly monitored by a sensor.
➢ The sensor samples the system output and converts this measurement
into an electric signal that it passes back to the controller.
➢ Because the controller knows what the system is actually doing, it can
make any adjustments necessary to keep the output where it belongs.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.24 Chapter 1

1.5. CLOSED-LOOP CONTROL SYSTEMS

➢ The signal from the controller to the actuator is the forward path, and the
signal from the sensor to the controller is the feedback.
➢ The feedback signal is subtracted from the set point at the comparator
(just ahead of the controller) to get the system error.
➢ The error signal represents the difference between “where you are” and
“where you want to be.”
➢ The controller is always working to minimize this error signal. A zero
error means that the output is exactly what the set point says it should be.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.25 Chapter 1

1.5. CLOSED-LOOP CONTROL SYSTEMS

❑Components of a closed-loop control system

➢ Sensors: measure real value of control variable, transform to a usuable

electric value and make feedback to controller.

➢ Controller (including comparator): make suitable control to reduce the

value of error.

➢ Actuators: transform control signal to actuation.

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Automatic Control Technology 1.26 Chapter 1

1.5. CLOSED-LOOP CONTROL SYSTEMS

❑ A simple closed-loop position control system:

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.27 Chapter 1

1.5. CLOSED-LOOP CONTROL SYSTEMS

➢ Example: Position control system of an antenna

- Initial position: 00

- Desired postion: 300 (→ xd)

- Motor: 10 /sec (at define voltage vs)
- Position sensor: 10V / 3600 (→ xa)

Control signal vc is determined

according to following equations:
vs xa  xd
vc = nếu
0 xa = xd
vc = C(xd −xa)
The position of antenna is control accurately despite the stability of the engine
as well as the accuracy of the mechanical transmission.
HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.28 Chapter 1

1.5. CLOSED-LOOP CONTROL SYSTEMS

➢ Example: Motor speed control system

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Automatic Control Technology 1.29 Chapter 1

1.5. CLOSED-LOOP CONTROL SYSTEMS

➢ Example: A temperature closed-loop control system

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Automatic Control Technology 1.30 Chapter 1

1.5. CLOSED-LOOP CONTROL SYSTEMS

Open-loop control system Closed-loop control system

- Simple and low investment costs - Complex and high investment costs
- Cannot control real variable - Can control real variable
- Can be applied when the working - The actual value is always stable
characteristics of the impact and process despite the character of the impact and
mechanisms are relatively stable process structures.
- Perform regularly the system - Sometimes just check the working
calibration process characteristics of the sensor

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Automatic Control Technology 1.31 Chapter 1

1.6. LINEAR AND NON-LINEAR ELEMENTS

❑ Linear element
When analyzing and designing, most control systems are assumed to
include linear elements - the element gives the output signal
proportional to the input signal.

Linear element preserves the geometry of the input signal.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.32 Chapter 1

1.6. LINEAR AND NON-LINEAR ELEMENTS

❑ Nonlinear element
- In nonlinear element, there is the distortion in the output waveform.

- We measure the nonlinearity of a component by drawing a straight

line on the I/O graph positioned to minimize the deviation between it
and the curved I/O graph
Automatic Control Technology 1.32 Chapter 1

1.6. LINEAR AND NON-LINEAR ELEMENTS

❑ Dead band: is the range of values at which the input signal to X

does not change the Y output signal.

Backlash in gears is one example of dead band

Automatic Control Technology 1.33 Chapter 1

1.6. LINEAR AND NON-LINEAR ELEMENTS

❑ Hysteresis: is nonlinear, which leads to Y signal value not

overlapping when the input signal X increases or decreases.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.34 Chapter 1

1.6. LINEAR AND NON-LINEAR ELEMENTS

❑ Saturation refers to the limitations on the range of values for the output
of a component. All real components reach a saturation limit when the
input is increased (or decreased) beyond its limiting value.
Automatic Control Technology 1.35 Chapter 1

1.7. DAMPING AND STABILITY

▪ The gain coefficient of the controller determines an important

characteristic of the control system, which is the form of damping -
the form of instability.

▪ This feature is expressed by the system as a response under the impact

of the noise signal (disturbance).

▪ The purpose of the controller is to reduce the response to the noise

signal, the smaller the better.

▪ Damping is a force or signal that opposes the motion (or rate of

change) of the controlled variable.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.36 Chapter 1

1.7. DAMPING AND STABILITY

❑ 5 types of response to step signal:

• Over-damped

• Critically damped

• Under-damped

• Un-damped (unstable)

+ Constant amplitude

+ Increasing amplitude
Automatic Control Technology 1.36 Chapter 1

1.7. DAMPING AND STABILITY

❑ 5 types of response to step signal:

• Over-damped

• Critically damped

• Under-damped

• Un-damped (unstable)

+ Constant amplitude

+ Increasing amplitude

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.37 Chapter 1

1.8. OBECTIVES OF CONTROL SYSTEMS

▪ The objective of a control system seems quite simple-to maintain the
controlled variable exactly equal to the setpoint at all times, regardless
of load changes or setpoint changes.

▪ To do this, the control system must respond to a change before the

error occurs; unfortunately, feedback is never perfect because it does
not act until an error occurs.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.37 Chapter 1

1.8. OBECTIVES OF CONTROL SYSTEMS

When there is a change in load or adjustment value, the control system must ensure the
following 3 objectives:

• Minimize the largest deviation value emax

• Minimize setup time Ts

• Minimize excess deviation esteady-state

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.38 Chapter 1

1.9. EVALUATION CRITERIA OF CONTROL SYSTEM

❑ The usual test method is to change the value according to the ladder
function and use the following 3 criteria to evaluate a system.
➢ Decline of a quarter of the amplitude: determine the amplitude of the
damping at which the amplitude of a positive peak equals one quarter of the
amplitude of a positive peak before it.
Automatic Control Technology 1.39 Chapter 1

1.9. EVALUATION CRITERIA OF CONTROL SYSTEM

➢ Minimum integral of absolute errors: Determine the total area

under the deviation curve must be minimal.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.40 Chapter 1

1.9. EVALUATION CRITERIA OF CONTROL SYSTEM

➢ Critical damping: be used when the desired overshoot does not occur.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.41 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

Control system is very diverse, it depends on the control object, control method,
conditions of use
➢ Feedback circuit
• No feedback → Open-loop system
• With feedback → Closed-loop system
➢ Signal type
• Continuity → Analog system
• Discrete → Digital system
➢ Adjustment value
• Little change → Regulator system
• Continuous change → Follow-up system

➢ Location of the controller

• In the central control room → Centralized control system
• Placed near the sensors and actuators → Distribution control system
HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.42 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

➢ Industrial environment
• Processing → Process control system
▪ Continuous process
▪ Discrete process
• Loose details → Manufacturing control system
▪ Machining - Numerical control system
▪ Assembly – Industrial robot control system

➢ Other groups
• Servo mechanism
• Sequence control
▪ According to the event
▪ According to time
• Programmable controller

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.43 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

❑ Linear system: is represented by linear differential / difference
equations
❑ Non-linear system: is represented by non-linear differential / difference
equations

Linear system Non-linear system

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.44 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

❑ Continuous system: Input / output and intermediate signals in the

system are continuous signals. This system is described by differential
equations.

❑ Discrete system: There exists a point in the system where the signal is
discrete. The system is represented by the difference equations.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.45 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

❑ Single Input Single Output System (SISO)

❑ Multiple Input Multiple Output System (MIMO)

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.46 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

❑ The Invariant time system: coefficients of differential / difference

equations describe the system are constant.

❑ The Variable time system: coefficients of differential / difference

equations describe the system can change over time.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.47 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

❑ Analog control system

- Designed from analog signal processing circuits

- The signal is constantly updated

❑ Digital control system

- Designed from digital signal processing circuits
- The signals are updated based on the clock pulses

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.48 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

❑ Digital control system
- The physical world is basically an “analog place.”
- Natural events take time to happen, and they usually move in a continuous
fashion from one position to the next.
- Therefore, most control systems are controlling analog processes.
- This means that, in many cases, the digital control system must first convert
real-world analog input data into digital form before it can be used.
- Similarly, the output from the digital controller must be converted from
digital form back into analog form.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.49 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

❑ Process control system

- Process control refers to a control system that oversees some

industrial process so that a uniform, correct output is maintained.
- It does this by monitoring and adjusting the control parameters to
ensure that the output product remains as it should.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.50 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

❑ Process control system
- Another example of process control is a paint factory in which two
colors, blue and yellow, are mixed to produce green.
- To keep the output color constant, the exact proportions of blue and
yellow must be maintained.
- The setup illustrated accomplishes this with flow valves 1 and 2,
which are manually adjusted until the desired hue of green is achieved.
- The problem is that, as the level of paint in the vats changes, the flow
will change and the mixture will not remain constant.

Manual control

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Automatic Control Technology 1.51 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

❑ Process control system
- To maintain an even flow from the vats, we could add two electrically
operated flow valves (and their controls).
- Each valve would maintain a specified flow of paint into the mixer,
regardless of the upstream pressure.
- Theoretically, if the blue and yellow flows are independently
maintained, the green should stay constant.
- In practice, however, other factors such as temperature or humidity
may affect the mixing chemistry and therefore the output color.

Automatic flow control

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.52 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

❑ Process control system
- A better approach might be the system shown below; a single sensor
monitors the output color.
- If the green darkens, the controller increases the flow of yellow. If the
green gets too light, the flow of yellow is decreased.
- This system is desirable because it monitors the actual parameter that
needs to be maintained.
- In real life, such a straightforward system may not be possible because
sensors that can measure the output directly may not exist and/or the
process may involve many variables.

Automatic color control

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.53 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

❑ Process control system
- In a large plant such as a refinery, many processes are occurring
simultaneously and must be coordinated because the output of one
process is the input of another.
- In the early days of process control, separate independent controllers
were used for each process.
- The problem with this approach was that, to change the overall flow of
the product, each controller had to be readjusted manually.

Individual local controllers

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.54 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

❑ Process control system
- In the 1960s, a new system was developed in which all independent
controllers were replaced by a single large computer.
- This system is called direct digital control (DDC). The advantage of
this approach is that all local processes can be implemented, monitored,
and adjusted from the same place.
- Also, because the computer can “see” the whole system, it is in a
position to make adjustments to enhance total system performance.
- The drawback is that the whole plant is dependent on that one
computer. If the computer goes off line to fix a problem in one process,
the whole plant shuts down.

Direct computer control system

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.55 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

❑ Process control system
- The advent of small microprocessor-based controllers has led to a new
approach called distributed computer control (DCC).
- In this system, each process has its own separate controller located at
the site.
- These local controllers are interconnected via a local area network so
that all controllers on the network can be monitored or reprogrammed
from a single supervisory computer.
- Once programmed, each process is essentially operating independently.

Distributed control system

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.56 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

❑ Sequentially Controlled Systems
- A sequentially controlled system controls a process that is defined as
a series of tasks to be performed—that is, a sequence of operations, one
after the other.

- Each operation in the sequence is performed either for a certain amount

of time, in which case it is time-driven, or until the task is finished (as
indicated by, say, a limit switch), in which case it is event-driven.

- A time-driven sequence is open-loop because there is no feedback,

whereas an event-driven task is closed-loop because a feedback signal
is required to specify when the task is finished.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.57 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

❑ Sequentially Controlled Systems
- Another example of a sequentially
controlled system is a traffic signal.

- The basic sequence may be time-driven:

45 seconds for green, 3 seconds for
yellow, and 45 seconds for red.

- The presence or absence of traffic, as

indicated by sensors in the roadbed,
however, may alter the basic sequence,
which is an event-driven control.

Time-driven operation
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Automatic Control Technology 1.58 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

❑ Sequentially Controlled Systems
- The classic example of a sequentially controlled system is the automatic
washing machine.
- The first event in the wash cycle is to fill the tub. This is an event-driven task
because the water is admitted until it gets to the proper level as indicated by a
float and limit switch (closed loop).
- The next two tasks, wash and spin-drain, are each done for a specified period
of time and are time-driven events (open loop). A timing diagram for a
washing machine is shown in below Figure.

Event-driven operation
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Automatic Control Technology 1.59 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

❑ Motion control system
- Motion control is a broad term used to describe an open-loop or
closed-loop electromechanical system wherein things are moving.

- Such a system typically includes a motor, mechanical parts that move,

and (in many cases) feedback sensor(s).

- Automatic assembling machines, industrial robots, and numerical

control machines are examples.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.60 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

➢ Servomechanisms
- Servomechanism is the traditional term applied to describe a closed-
loop electromechanical control system that directs the precise
movement of a physical object such as a radar antenna or robot arm.
- Typically, either the output position or the output velocity (or both) is
controlled.
- An example of a servomechanism is the positioning system for a
radar antenna

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.61 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

➢ Servomechanisms
- In this case, the controlled variable is the antenna position.
- The antenna is rotated with an electric motor connected to the
controller located some distance away.
- The user selects a direction, and the controller directs the antenna to
rotate to a specific position.

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Automatic Control Technology 1.62 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

➢ Servomechanisms
A moving control system of load using hydraulic cylinder.

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Automatic Control Technology 1.63 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

➢ Numerical control system
- Numerical control (NC) is the type of digital control used on machine
tools such as lathes and milling machines.
- These machines can automatically cut and shape the workpiece without
a human operator.
- Each machine has its own set of axes or parameters that must be
controlled; as an example, consider the milling machine.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.64 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

➢ Numerical control system
- The workpiece that is being formed is fastened to a movable table. The
table can be moved (with electric motors) in three directions: X, Y, and Z.
- The cutting-tool speed is automatically controlled as well. To make a
part, the table moves the workpiece past the cutting tool at a specified
velocity and cutting depth.
- In this example, four parameters (X, Y, Z, and rpm) are continuously and
independently controlled by the controller.
- The controller takes as its input a series of numbers that completely
describe how the part is to be made.
- These numbers include the physical dimensions and such details as
cutting speeds and feed rates.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.65 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

➢ Robotics
- Industrial robots are classic examples of position control systems.
- In most cases, the robot has a single arm with shoulder, elbow, and wrist
joints, as well as some kind of hand known as an end effector.
- The end effector is either a gripper or other tool such as a paint spray
gun.
- Robots are used to move parts from place to place, assemble parts, load
and off-load NC machines, and perform such tasks as spray painting and
welding.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.66 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

➢ Robotics
- Pick-and-place robots, the simplest type, pick up parts and place them
somewhere else nearby.
- Instead of using sophisticated feedback control, they are often run open-
loop using mechanical stops or limit switches to determine how far in
each direction to go (sometimes called a “bang-bang” system).).

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1.10. CLASSIFICATION OF CONTROL SYSTEM

➢ Robotics
- Sophisticated robots use closed-loop position systems for all joints. An example is
the industrial robot shown below.
- It has six independently controlled axes (known as six degrees of freedom) allowing
it to get to difficult-to-reach places.
- The robot comes with and is controlled by a dedicated computer-based controller.
This unit is also capable of translating human instructions into the robot program
during the “teaching” phase.
- The arm can move from point to point at a specified velocity and arrive within a few
thousandths of an inch.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Automatic Control Technology 1.68 Chapter 1

1.10. CLASSIFICATION OF CONTROL SYSTEM

➢ Robotics
Cell production
A combination of a group of
machine tools and a group of
machine arms to increase the
efficiency of a particular
product.

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
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1.11. EXAMPLE OF CONTROL SYSTEMS

➢ Speed control system (mechanical)

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
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1.11. EXAMPLE OF CONTROL SYSTEMS

➢ Speed control system (electrical)

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
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1.11. EXAMPLE OF CONTROL SYSTEMS

➢ Water level control system

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
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1.11. EXAMPLE OF CONTROL SYSTEMS

➢ Thickness control system

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
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1.11. EXAMPLE OF CONTROL SYSTEMS

➢ Temperature control system

HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong