Module V(I)

Control Benefits

DYNAMICS and CONTROL

Presented by

Pedro AlbertosProfessor of Systems Engineering and Control - UPV

Necessary Control

Module V(I)

Control Benefits

3

Dealing with unstable plants

Accessing to remote processes

Making easy the operators’ work

Getting high performance

Coping with unexpected disturbances

Favouring new applications

Use of Control:

DYNAMICS & CONTROL

Control is Necessary for unstable plants

Control

SYSTEM

Disturbances

Information

Contr

olle

d

vari

able

s

4

DYNAMICS & CONTROL

Automatic Control

Information

CONTROLGoals

Stabilizing

5

Inverted pendulum

DYNAMICS & CONTROL

Stabilizing

5

On a car

DYNAMICS & CONTROL

Stabilizing

5

Flywheel Inverted Pendulum

DYNAMICS & CONTROL

Stabilizing

5

Segway

DYNAMICS & CONTROL

Stabilizing

6

Inverted pendulum

On a car

Segway

http://www.youtube.com/watch?v=AuAZ5zOP0yQ

http://www.youtube.com/watch?v=rmlg5QkusFQ

http://www.youtube.com/watch?v=DDBkg1PfvFY

Youtube videos

DYNAMICS & CONTROL

7

GliderSystems being unstable by design

DYNAMICS & CONTROL

7

Glider

Helicopter

Systems being unstable by designDYNAMICS & CONTROL

7

Glider

Helicopter

Passenger aircraft

Systems being unstable by designDYNAMICS & CONTROL

7

Glider

Helicopter

Passenger aircraft

Fighter

Systems being unstable by designDYNAMICS & CONTROL

7

Glider

Helicopter

Passenger aircraft

Fighter

Systems being unstable by designDYNAMICS & CONTROL

The more stable the plant is

the lower performance

can be achieved by control

8

Systems being unstable by design

DYNAMICS & CONTROL

Bicycle

8

Systems being unstable by design

DYNAMICS & CONTROL

Bicycle

Aircraft / Outboard boat

8

Systems being unstable by design

DYNAMICS & CONTROL

Bicycle

Aircraft / Outboard boat

Mechanical instability

Segway

8

Systems being unstable by design

DYNAMICS & CONTROL

Bicycle

Aircraft / Outboard boat

Mechanical instability

Segway

8

Systems being unstable by design

DYNAMICS & CONTROL

Bicycle

Chemical reactor

Aircraft / Outboard boat

Mechanical instability

Segway

8

Systems being unstable by design

DYNAMICS & CONTROL

Bicycle

Chemical reactor

Aircraft / Outboard boat

Mechanical instability

Segway

A ----> Bk

TT

LT

VC1

Camisa Vj Tj

T(t)VC2

Q0, T

0, C

a0, r

Q , T , Ca, r

Qj0

, Tj0

Qj, T

j

Ca , TA ----> B

k

TT

LT

VC1

Jacket V j Tj

T(t)VC2

, T0, C

a0, r

Q , T , Ca, r

Qj0

, Tj0

Qj, T

j

Ca , T

8

Systems being unstable by design

DYNAMICS & CONTROL

Bicycle

Chemical reactor

Aircraft / Outboard boat

Mechanical instability

Segway

Tele-operation

9

DYNAMICS & CONTROL

Control

SYSTEM

Disturbances

Information

Contr

olle

d

vari

able

s

CONTROL

Network

Tele-operation

9

• Remote guidance

DYNAMICS & CONTROL

Tele-operation

9

• Remote guidance

DYNAMICS & CONTROL

• Guided surgery

Tele-operation

9

• Remote guidance

DYNAMICS & CONTROL

• Guided surgery

• Miniaturization

Servosystems

Local

Process

Tele-operation

9

• Remote guidance

DYNAMICS & CONTROL

• Guided surgery

• Miniaturization

Servosystems

Local

Process

Scaled

Process

10

DYNAMICS & CONTROL

Control Benefits

What have we seen today?

When control is necessary

Why design unstable plants

Remote control not

implementable by humans

11

DYNAMICS & CONTROL

Modules:What is next? Examples of systems and signals

Models of systems and signals

Controlled systems: properties

Control systems design

Control benefits

Necessary Control

Performance Improvements

A look at the future

Topics to study

12

Some of the images of this presentation are from the following sources:

• Slide 5-1. Inverted elastic pendulum. By daniel8684. http://www.youtube.com/watch?v=OvqiIgnA39E&noredirect=1

• Slide 5-3 http://pixabay.com/es/segway-scooter-equilibrio-unidad-160537

• Slide 7-1. Image provided by Paul Haliday to has confirmed that he is happy for this image to be used by anybody, anywhere for any purpose provided that www.flightbox.net is credited.

http://en.wikipedia.org/wiki/File:Left_side_of_Flying_Pigeon.jpg

• Slide 7-2. Sky New Helicopter from Westminster Bridge by Peter Clarke http://commons.wikimedia.org/wiki/File:Sky_News_HD_Helicopter.jpg

• Slide 7-3 Image provided by Paul Haliday to has confirmed that he is happy for this image to be used by anybody, anywhere for any purpose provided that www.flightbox.net is credited.

http://commons.wikimedia.org/wiki/File:K21_glider.jpg

• Slide 7-4F-15E Strike Eagle by Cam in Van https://www.flickr.com/photos/righthererightnow/4900357106/lightbox/

• Slide 8 On July 5th, 1950, the first Flying Pigeon bicycle was produced. It was the brainchild of a worker named Huo Baoji. He based his classic model on the 1932 English Raleigh Roadster.

http://en.wikipedia.org/wiki/File:Left_side_of_Flying_Pigeon.jpg

• Slide 9-1 http://commons.wikimedia.org/wiki/File:Sojourner_on_Mars_PIA01122.jpg

• Slide9-2 his Image was released by the United States Navy. http://commons.wikimedia.org/wiki/File:US_Navy_030819-N-9593R-

228_Civilian_technician,_Jose_Araujo_watches_as_a_patient_goes_through_a_Magnetic_Resonance_Imaging,_%28MRI%29_machine.jpg

ATTRIBUTION IMAGES

Module V (I)

Control Benefits

Necessary Control

DYNAMICS and CONTROL

Presented by

Pedro AlbertosProfessor of Systems Engineering and Control - UPV 13

Thank you!