Vibration & Control

Lec-02 ( Feedback Control Systems)

BITS Pilani
(ME F319)
Pilani Campus
 Closed Loop Control system with
Disturbance
feedback Control

Reference
Input. ωdes (t) Error Actuator Input DC Output
Controller Motor
Forward e(f) ω(t)
Path Dynamics V(t)
+/-

Feedback path – it can include

additional dynamic components
(sensors)
‘Sensor Dynamics’ – Response time Sensor Feedback
scale of a sensor (depends on order Dynamics
of the system & sensor dynamics) Feedback Path
SISO Causal LTI (linear time
invariant) dynamic system
Closed loop control system with negative feed back
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 Closed loop Control System with
Feedback
Two important features of Control system
Linear ODE with i) Stability
ii) Performance – (how fast / well the system responds)
Constant Coefficients

System
Laplace Transform State Space Response
(Transfer Function Representation
Representation-) (in time domain)
Non-zero
Laplace Transform (A real valued function in real Input Provided
Initial Conditions
domain is mapped to complex domain)
State Space approach (series of linear 1st order
ODE in time domain) Force displacement
System
System
f(t) X(t)

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 Closed loop Control System with
Feedback
System response So, the governing equation is a 2nd order linear
inhomogeneous ODE with constant coefficients:

System
Response

The governing equation of motion is :

Non-zero
Input Provided
Initial Conditions

Force displacement
System
1. Linear in x(t) and f(t) f(t) X(t)
2. Inhomogeneous because of the forcing function
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 Feedback Control – Few specific cases
Let’s consider a few specific cases
i) LTV (linear time varying systems)

2nd Order linear in-homogeneous ODE with

Time varying coefficients.

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 Feedback Control – Few specific cases
Let’s consider a few specific cases ii) If the spring is non-linear
i) LTV (linear time varying systems) If the spring is non-linear,
The governing equation for a non-linear spring response may
be written:

2nd Order linear in-homogeneous ODE with

Time varying coefficients.
In this Region
Linear Approximation
F(t) can be applied ?

2nd Order linear in-homogeneous ODE with constant

coefficients and a “quadratic spring”.
X(t)
X(i) BITS Pilani, Hyderabad Campus
 Feedback Control – Free and Forced
Response
M = 1Kg Let’s consider the spring mass damper system
C = 0.5 Ns/m
K = 0.75N/m The free response of a system is the solution
F = 1N (step when applied)
of the describing differential equation of the
Non Zero IC + Input system, when the input is zero. In our case the
input into the system is the force F [N].
1
Zero IC response
Forced response
0 The forced response of a system is the
solution of the differential equation describing
the system, taking into account the impact of
the input. In our case the input is force F [N].
Free Response f(t) = 0
Force displacement Zero input
System
f(t) X(t)

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 Time Variance –different kind of inputs
Step force input given at t = 0 s
Time Variance t = 75 s
K = 0.75 N/m
KV (t)= 0.75 e -0.01t N/m f(t)
f(t) IN
K(t) IN
Spring
Constant (N/M) k1
75
k2
0.75

0.7
0.69
0.693 t
Disp

70 80
0 75 t
75

Time Varying stiffness of a spring Step force input

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 Summarizing:- Open loop vs Closed loop

Open Loop

Controller independently calculates exact signal

needed by actuator to track a given signal

• Controller ‘does not know’ if the actuator

achieved what it was ‘asked’ to do (no feedback)

Closed Loop

• The process output (controlled variable) is

continuously monitored by a sensor

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Summarizing:- Open loop vs Closed loop

Open Loop (No Control)

Closed Loop (with feedback control)

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 An introduction to Servo-mechanism

Servomechanism is an automatic
closed loop control system.

It is used for error-sensing of a

negative feedback to correct the
performance of a mechanism.

It mainly consists of the following:-

i) A controlled device
ii) An output sensor
iii) A feedback system
Uses :- Autofocus camera to accurately move the lens , and thus adjust the focus/ remote control
airplanes, satellite tracking antennas, CNC machining, automatic navigation etc.
Mphysicstutorial.com BITS Pilani, Hyderabad Campus
 Servo-mechanism – Working Principle

• The device is controlled by a feedback signal

generated by comparing output signal and a
reference input rather than the variable
input.
• A servomotor consists of a DC motor, a
potentiometer, gear arrangement and IC
circuit.
• The electrical signal is given to input
terminal of the error detector (Amplifier).
• The difference between the signals – one Advantages :- i) Higher torque and speed
from potentiometer and other from external ii) Speed Control iii) Speed α Voltage
source is amplified and used as an input.
Higher cost and requires tuning.
Mphysicstutorial.com BITS Pilani, Hyderabad Campus
 A State Space Representation

The governing equation of motion is :

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 A State Space Representation

The governing equation of motion is :

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BITS Pilani, Hyderabad Campus
 Laplace Transform
Laplace transforms convert differential equations into algebraic equations. They are related to frequency response.

For causal systems, the unilateral laplace

transform holds (x(t)=0 for t<0)

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 Laplace Transform - Properties

Laplace transforms convert differential equations

into algebraic equations. They are related to
frequency response.

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Laplace Transform - Properties

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 Thank You
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Pilani Campus