Class Four
Systems and Control
•Definitions, Classification of controls,
• Block Diagram Components of Feedback
Control,
•Modeling & Design in Control.
Control Engineering
• Control engineering is based on the foundations
of feedback theory and linear system analysis,
and it generates the concepts of network theory
and communication theory.
• Accordingly, control engineering is not limited to
any engineering discipline but is applicable to
aeronautical, chemical, mechanical,
environmental, civil, and electrical engineering.
A control System
• A control system is an interconnection of
components forming a system configuration that
will provide a desired system response.
• The basis for analysis of a system is the
foundation provided by linear system, which
assumes a cause - effect relationship for the
components of a system.
• A component or process to be controlled can be
represented by a block as shown in Figure 1.
Block Diagram
open-loop control
• An open-loop control system utilizes a controller
or control actuator to obtain the desired response
as shown in Figure 2.
• The open-loop control system utilizes an
actuating device to control the process directly
without using device.
• An example of an open-loop control system is an
electric toaster.
Electric Toaster
A closed-loop control system
• A closed-loop control system (Figure 3) utilizes
an additional measure of the actual output to
compare the actual output with the desired output
response.
• The measure of the output is called the feedback
signal.
A closed-loop control system
• A feedback control system is a control system that
tends to maintain a relationship of one system
variable to another by comparing functions of these
variables and using the difference as a means of
control.
• As the system is becoming more complex, the
interrelationship of many controlled variables may
be considered in the control scheme.
A closed-loop control system
• An example of closed-loop control system is a
person steering an automobile by looking at the
auto’s location on the road and making the
appropriate adjustments.
TEMPERATURE CONTROL
SYSTEMS
• Figure 4 shows a diagram of temperature control
of an electric furnace.
• The temperature in the electric furnace is
measured by a thermometer, which is an analog
device.
TEMPERATURE CONTROL
SYSTEMS
• The analog temperature is converted to a digital
temperature by an A/D converter.
• The digital temperature is fed to a controller
through an interface.
TEMPERATURE CONTROL
SYSTEMS
• This digital temperature is compared with the
programmed input temperature, and if there is any
error, the controller sends out a signal to the
heater, through an interface, amplifier, and relay,
to bring the furnace temperature to a desired
value.
CONTROL SYSTEM DESIGN
CONTROL SYSTEM DESIGN
Variables to control are the quantities or conditions
that are measured and controlled.
Process is a natural, progressively continuing
operation marked by a series of gradual changes
that succeed one another in a relatively fixed way
and lead toward certain result or end.
A system is a combination of components that act
together and perform a certain objective.
DESIGN EXAMPLE: TURNABLE
SPEED CONTROL
DESIGN EXAMPLE: TURNTABLE
SPEED CONTROL
DESIGN EXAMPLE: DISK DRIVE READ
SYSTEM
DESIGN EXAMPLE: DISK DRIVE
READ SYSTEM
• A hard disk uses round, flat disks called platters,
coated on both sides with a special media material
designed to store information in the form of
magnetic patterns.
• The platters are mounted by cutting a hole in the
center and stacking them onto a spindle.
DESIGN EXAMPLE: DISK DRIVE
READ SYSTEM
• The platters rotate at high speed, driven by a
special spindle motor connected to the spindle.
• Special electromagnetic read/write devices called
heads are mounted onto sliders and used to either
record information onto the disk or read
information from it.
DESIGN EXAMPLE: DISK DRIVE
READ SYSTEM
• The sliders are mounted onto arms, all of which
are mechanically connected into a single assembly
and positioned over the surface of the disk by a
device called an actuator.
• A logic board controls the activity of the other
components and communicates with the rest of the
computer. For details see Figure 8 and Figure 9.
DESIGN EXAMPLE: DISK DRIVE
READ SYSTEM
DESIGN EXAMPLE: DISK DRIVE
READ SYSTEM
FEEDBACK CONTROL OF AN
ANTIAIRCRAFT GUN
Terminology
• Control is a series of actions directed for
making a variable system adheres
to a reference value (that might be
either constant or variable).
• The desired reference value when
performing control is the desired
output variable (that might deviate
from actual output)
Terminology
• Process, as it is used and understood by
control engineers, means the component
to be controlled
Controls are classified with respect to:
• technique involved to perform control (i.e.
human/machines):
manual/automatic control
• Time dependence of output variable
(i.e. constant/changing):
regulator/servo,
(also known as regulating/tracking
control)
Controls are classified with respect to:
• fundamental structure of the control (i.e.
the information used for computing the
control):
Open-loop/feedback control,
(also known as open-loop/closed-loop
control)
Manual/Automatic Controls - Examples
A system that involves -
• - a person controlling a machine is called
manual control.
Ex: Driving a car
• - machines only is called an automatic
control.
Ex: Central AC
Servo/Regulator Controls - Examples
An automatic control system designed to:
• follow a changing reference is called
tracking control or a servo.
Ex: Remote control car
• maintain an output fixed (regardless of the
disturbances present) is called a regulating
control or a regulator.
Ex: Cruise control
Open-Loop Control /Feedback control
The structures are fundamentally different:
• In an open-loop control, the system
does NOT measure the actual output and
there is no correction to make that
output conform to the desired
output.
Open-Loop Control /Feedback control
• In a closed loop control the system
includes a sensor to measure the output and
uses feedback of the sensed value to
influence the control input
variable.
Examples of
Open-Loop & Feedback Controls
An Electric toaster A water tank of an
is an open-loop control. ordinary flush toilet
is a (basic)
Since feedback control
• The controller is based Since
on the knowledge. • The output is fedback
• The output is not used for control
in control computation computation
Pros & Cons of Open-Loop Control
• Generally simpler than closed-loop control,
• Does not require a sensor to measure the
output,
• Does not, of itself, introduce stability
problems;
• BUT Has lower performance than closed-
loop to match the desired output well.
Problems with Feedback Control
• More complex than open-loop control
• May have steady state error
• Depends on accuracy with which you can measure
the output
• May cause stability problems
Advantages of Feedback Control
• System with well designed feedback control can
respond to unforeseen events.
• Eliminates need for human adjustment of control
variable
• Reduces human workload
• Gives much better performance than it is possible
with open-loop
Block Diagram
• It represents the structure of a control
system.
• It helps to organize the variables
and equations representing the
control system.
Block Diagram
• It is composed of:
–boxes, that represents the components
of the system Including their
causality;
–Lines with arrows, that represent the
actual dynamic variables, such as
speed, pressure, velocity, etc..
Simplest Open-Loop Control Example & Associated Block
Diagrams
• System = mass + spring
• Control Input: force u
• Output: displacement
x(t)
• Block diagram
(derived using Laplace
transforms)
• Component block
diagram for the system
examined
Specific & Generic
Component Block Diagrams
Recall previous system
• Control Input: force u
• Output: displacement x(t)
Component block diagram for
the system examined
Generic component block
diagram
Definitions of Process, Actuator & Plant
• Process =
component whose the
output is to be
controlled
Ex: Mass
• Actuator = device
that can influence the
control input variable
of the process
Ex: Spring
• Plant = actuator +
process
Ex: Spring/mass system
Generic Component Block Diagram of an Elementary FEEDBACK
Control
• Control input = external variable (signal/action) applied to
the plant
• Controller = computes the desired control input variable
• Sensor = measures the actual output variable
• Comparator (or Σ) = computes the difference between the
desired and actual output variables to give the controller a
measure of the system error
Generic Component Block Diagram of an Elementary FEEDBACK Control
(cont’d)
Our general system also includes: Disturbance & Sensor
noise
Typically, the sensor converts the measured output into an electric
signal for use by the controller. An input filter is then required.
• Input filter = converts the desired output
variable to electric form for later manipulation by
the controller
Example 1: Heater
Question: Identify:
a) the process,
b) the control input variable,
c) the output variable,
d) the controller.
Example 2: Cruise Control
Question: Identify:
a) the process,
b) the control input variable,
c) the output variable,
d) the controller.
Basic Electronics 9
1.6 FEEDBACK CONTROL OF AN ANTIAIRCRAFT GUN
Gun Azimuth (Elevation)
Demanded Azimuth (Elevation)
Control Gun
System Dynamics
Figure 10 Feedback control of an antiaircraft system.
Basic Electronics 10
Exercises
E1.1
A precise optical signal source can control the output power level to within 1%.
A laser is controlled by an input current to yield the output power. A microprocessor
controls the input current to the laser. The microprocessor compares the desired power
level with a measured signal proportional to the laser power output obtained from a
sensor. Draw the block diagram representing the closed-loop control system.
Error Micro Current Laser Output power
Desired Power processor (Process)
output
Sensor (Measurement)
Measured
power
Basic Electronics 11
E1.6
Automated highways may be prevalent in the next decade. Consider two automated highway
lanes merging into a single lane, and describe a control
system that ensures that the vehicle merge with a prescribed gap between two vehicles.
Error Computer Brakes Active
Desired (Controller) Steering vehicle Actual gap
gap
Sensor (Radar)
Measured gap
Basic Electronics 12
Problems
P1.1
Many luxury automobiles have thermostatically controlled air-conditioning
systems for the comfort of the passengers. Sketch a block diagram of an air- conditioning
system where the driver sets the desired interior temperature on a dashboard panel.
Error Thermostat Automobile
Desired (Controller) cabin Cabin
temperature temperature
Sensor (Measurement)
Measured
temperature
Basic Electronics
13
P1.10
The role of air traffic control systems is increasing as airplane traffic increases at busy airports.
Engineers are developing air traffic control systems and collision
avoidance systems using the Global Positioning System (GPS) navigation satellites. GPS allows
each aircraft to know its position in the airspace landing
corridor very precisely. Sketch a block diagram depicting how an air traffic
controller might utilize GPS for aircraft collision avoidance.
Allerons,
elevators,
Autopilot Aircraft
(controller)
rubber, and Flight path
Desired flight Engine power (Process)
Path from
traffic
controller
Global Positioning System
Measured flight path
Basic Electronics 14
P1.21
The potential of employing two or more helicopters for transporting payloads that are too heavy
for a single helicopter is a well-addressed issue in the civil and
military rotorcraft design arenas. A case of a multilift arrangement wherein two helicopters
jointly transport payloads has been named twin lift as shown in the
following figure. Develop the block diagram describing the pilots’ action, the
position of each helicopter, and the position of the load.
1 2
Load
distance
Measured separation
Radar
Desired separation (Measurement)
distance
Separation
Helicopter distance
Pilot
Altitude
Desired altitude
Altimeter
easured altitude
M (Measurement)
Basic Electronics 15
Design Problems
DP1.2
Many cars are fitted with cruise control that, at the press of a button,
automatically maintains a set speed. In this way, the driver can cruise at a speed limit or
economic speed without continually checking the speedmeter. Design a feedback control in
block diagram for a cruise control system.
Controller
1/k
Electric Auto/
Valve k
Desired Desired motor Engine
Speed
of auto Shaft
speed Drive shaft
set by
speed
driver
Measured Shaft speed meter
Shaft speed
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