BASICS OF CONTROL SYSTEM
What is control ?
For instance, we need to drive on a bike with a
constant
Speed of 60km/h:
- If slower : Steer up
- If faster : Steer down
That process is called control.
What is control system ?
Control system is an interconnection of components forming a system
configuration that will provide a desired system response.
For simplicity, control system is a system that controls other system.
Types of control system
There are various types of control system based on different criteria:
- Open-loop / Closed-loop
- Linear / Non-linear
- Continuous / Discrete
- SISO / MIMO
Types of control system
When control action is independent of output of the system
Open-loop control system
Examples: Automatic washing machine, kettle
Types of control system
Back to the first example, to carry out basic processes, control system
requires to gather information ( look on the speed gauge) of the control
object (speed), compare to the desired value (60km/h) and feedback to
controller component to finally impact to object ( steer up/down). Control
system including a feedback part is closed-loop control system.
Examples: Water level controller, air conditioner,
Example
Another example of a control system is water level controller.
It has a full of 3 basic components.
- The buoy is the sensor, it let us know the water level.
- The lever arm is the controller,
it adjust the input flow by the level of the buoy.
- The tank is the object.
If we want to change the inflow rate, we just need to change
the length of lever arm.
Requirement of a good control system
- Accuracy : limits of the errors
- Sensitivity : sensitive to input signals
- Noise Reduction : reduce undesired input signal
- Stability : For the bounded input signal, the output must be bounded and if
input is zero then output must be zero then such a control
system is said to be stable system.
- Bandwidth : operating frequency range
- Speed : time to achieve stable output
Mathematical model of control system
To analyze, design basic control systems which have different kind of physics
properties, the mathematics basis is essential. Ordinarily, the relation
between input and output is able to be expressed in form of high order
differential equation. We can simplify calculation by using:
- Laplace transformation
- State-space representation
Laplace transformation
Laplace transformation
Transfer function
In general form of the n-order system may have a associated differential equation
If all initial conditions are zero, taking Laplace
transformation, we have
Then
Is the transfer function.
,ratio of output to input,
Transfer function
Example:
Transfer function
Control system with negative feedback:
Transfer function
Piezoelectric accelerometer attached to large body
Basically, as the small accelerometer mass reacts to motion, it places the
piezoelectric crystal into compression or tension, causing a surface
charge to develop on the crystal. The charge is proportional to the motion.
As the large body moves, the mass of the accelerometer will move with an
inertial response. The stiffness of the spring, k, provides a restoring force to
move the accelerometer mass back to equilibrium while internal frictional
damping, c, opposes any displacement away from equilibrium
Transfer function
With y is the displacement of the small body,
x is the displacement of the large body.
Solving Newtons second law for the free body yields the second-order linear,
ordinary differential equation:
