Principle of Control and

Instrumentation

Design of Mechanical Control Systems

for Mechanical Engineering Students

Asso. Prof. Dr. Jie Huang

[email protected]
13021162172
 Textbook

• Modern Control Engineering

Fifth Edition
Katsuhiko Ogata
 Lecture I
Introduction to Control Systems
 Overview
Introduction

Examples of control systems

Closed- & Open-loop control

Design of Control systems

1-1 Introduction
• Historical Developments of Automatic Control.
– James Watt’s design for the speed control of a steam
engine in the eighteenth century.
– In 1922, Minorsky worked on automatic controllers
for steering ships and showed how stability could be
determined from the differential equations describing
the system.
– In 1932, Nyquist developed a relatively simple
procedure for determining the stability of closed-loop
systems on the basis of open-loop response to steady-
state sinusoidal inputs.
• Historical Developments of Automatic Control.
– In 1934, Hazen, who introduced the term
servomechanisms for position control systems,
discussed the design of relay servomechanisms
capable of closely following a changing input.
– During the decade of the 1940s, frequency-response
methods made it possible for engineers to design
linear closed-loop control systems that satisfied
performance requirements.
– Many industrial control systems in 1940s and 1950s
used PID controllers to control pressure, temperature,
etc.
– From the end of the 1940s to the 1950s, the root-
locus method due to Evans was fully developed.
• Historical Developments of Automatic Control.
– As modern plants with many inputs and outputs
become more and more complex, the description of a
modern control system requires a large number of
equations. Classical control theory, which deals only
with single-input, single-output systems, becomes
powerless for multiple-input, multiple-output
systems.
– During the years from 1960 to 1980, optimal control
of both deterministic and stochastic systems, as well
as adaptive and learning control of complex
systems, were fully investigated.
– From 1980s to 1990s, developments in modern
control theory were centered around robust control
and associated topics.
 Definitions
• The controlled variable is the quantity or
condition that is measured and controlled.
• A plant may be a piece of equipment, perhaps
just a set of machine parts functioning together,
the purpose of which is to perform a particular
operation.
• A system is a combination of components that act
together and perform a certain objective.
 Definitions

• A disturbance is a signal that tends to

adversely affect the value of the output of a
system.
• Feedback control refers to an operation that,
in the presence of disturbances, tends to reduce
the difference between the output of a system
and some reference input and does so on the
basis of this difference.
1-2 Examples of Control Systems
Control of Industrial Cranes

Cranes provide essential material-handling services throughout the world. However,

the flexible nature of their physical structures degrades their effectiveness, safety
and throughput. Payload oscillation is a major limitation.

Videos
Control of Industrial Cranes
 Control of robot manipulators

The flexible link manipulators has been motivated by the demands of light-weight
robotic systems and space applications. Noticeably, the flexible nature of the physical
structure can lower positioning accuracy, decrease the capable operating speeds, and
degrade the safety and reliability of flexible manipulators. The unwanted vibrations
are detrimental to the operation of flexible manipulators.

Videos
Control of robot manipulators
Slosh Suppression for Moving Liquid Container

Liquid transport in the rectangular container

is commonly used in many industrial
applications. The motion of a free liquid
surface inside its container is defined as
slosh. The slosh induced by the tank motion
might cause harmful effects for many types
of systems ranging from packing industry to
space vehicles.

Videos
Control of liquid sloshing
Speed Control System --- Watt’s speed governor for an engine
Temperature Control System --- control of an electric furnace
control of a car
1-3 CLOSED-LOOP CONTROL VERSUS
OPEN-LOOP CONTROL
• Feedback Control Systems (closed-loop control
systems)
– A system that maintains a prescribed relationship
between the output and the reference input by
comparing them and using the difference as a means
of control.
• Open-Loop Control Systems
– Those systems in which the output has no effect on the
control action.
 Difference between open- and
closed-loop feedback control systems

• reject external disturbances

• easy to implementation
• robustness
Motion Control systems

• velocity/speed control
• position control
 Vibration Control systems
• passive control techniques
– are passive to dissipate vibrational energy by using damper,
absorbers, and baffles. adding weight and complexity to the
overall system.

• active control techniques

– feedback control approaches measure vibrations to drive
the system in a closed loop for vibration reduction.
difficulty of accurately sensing the vibration.
– open-loop control schemes filter the inputs to create a
prescribed motion that results in minimal oscillations.
cannot reject the disturbances.
1-4 DESIGN OF CONTROL SYSTEMS
• Performance Specifications
– transient response requirements (such as the maximum
overshoot and settling time in step response)
– steady-state requirements (such as steady-state error in
following ramp input)
• System Compensation
– alter the overall behavior so that the system will behave as
desired.
• Design Procedures
– Modeling
– Dynamics analyses
– Closed- or open-loop system
– Design of a controller to meet the specifications.
TERMS AND CONCEPTS
• Automation
– The control of a process by automatic means.
• Closed-loop feedback control system
– A system that uses a measurement of the output and
compares it with the desired output to control the process.
• Control system
– An interconnection of components forming a system
configuration that will provide a desired response.
• Disturbance
– An unwanted input signal that affects the output signal.
• Embedded control
– Feedback control system that employs on-board special-
purpose digital computers as integral components of the
feedback loop.
• Feedback signal
– A measure of the output of the system used for feedback to control
the system.
• Measurement noise
– An unwanted input signal that affects the measured output signal.
• Mechatronics
– The synergistic integration of mechanical, electrical, and computer
systems.
• Multiloop feedback control system
– A feedback control system with more than one feedback control
loop.
• Multivariate control system
– A system with more than one input variable or more than one
output variable.
• Negative feedback
– An output signal feeds back so that it subtracts from the input
signal.
• Open-loop control system
– A system that uses a device to control the process without using
feedback. Thus the output has no effect upon the signal to the
process.
• Optimization
– The adjustment of the parameters to achieve the most favorable or
advantageous design.
• Positive feedback
– An output signal feeds back so that it adds to the input signal.
• Process
– The device, plant, or system under control.
• Robot
– Programmable computers integrated with a manipulator.
A reprogrammable, multifunctional manipulator used for
a variety of tasks.
• System
– An interconnection of elements and devices for a desired
purpose.
• Trade-off
– The result of making a judgment about how to
compromise between conflicting criteria.