Ch1 Introduction&Modeling 1

8/22/2019 Ch1 Introduction&Modeling 1

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The point is learning,

Learning requires effort.

There are no shortcuts here!

Every time you seek to find a shortcut in learning, what you are actually

doing is cheating yourself out of a valuable experience.

Information

Source

Class

Lecture, Book, etc.

Input

Learner


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First: Never ever limit yourself to a single source of information

Use multiple sources

Information source

ask an expert

Lecture, Book, etc.

Learner

Information sourceread a book

Information source

read another book

Information source

Internet search


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Secondly: Your use of information sources must be full of life to be fully

effective.

Approach each of your sources with specific questions in mind, with the goal of

finding answers to those questions:

LearnerInformation sourceread a book

Information sourceread another book

Information source

Internet search

Query

Query

Query

Query

Information source

ask an expert


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Thirdly: Apply what you collect from your sources.

Don't just let that information lie idle in your brain put it into immediate action.

This is where you begin to constructyour own understanding:

output

ApplicationWrite in your own words

ApplicationDescribe what U learn

Application

Teach your friend

ApplicationBuild something

ApplicationPractice, practice, practice
http://www.msplinks.com/MDFodHRwOi8vd3d3LmdsaXR0ZXItZ3JhcGhpY3MuY29t


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Lastly: Treat the results of your application as another source of information,

querying and learning from these efforts as though they were primary sources

(like experts or books). This last step establishes a feedback loop, enabling the

learner to self-correct errors in understanding:
http://www.msplinks.com/MDFodHRwOi8vd3d3LmdsaXR0ZXItZ3JhcGhpY3MuY29thttp://www.msplinks.com/MDFodHRwOi8vd3d3LmdsaXR0ZXItZ3JhcGhpY3MuY29thttp://www.msplinks.com/MDFodHRwOi8vd3d3LmdsaXR0ZXItZ3JhcGhpY3MuY29thttp://www.msplinks.com/MDFodHRwOi8vd3d3LmdsaXR0ZXItZ3JhcGhpY3MuY29thttp://www.msplinks.com/MDFodHRwOi8vd3d3LmdsaXR0ZXItZ3JhcGhpY3MuY29thttp://www.msplinks.com/MDFodHRwOi8vczMxMy5waG90b2J1Y2tldC5jb20vYWxidW1zL2xsMzc4L3NoYW5lZm90by8/YWN0aW9uPXZpZXcmY3VycmVudD1hcHBsYXVzZS5naWY=


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Attendance and Expectations

Attendance in class is Mandatory

Class Etiquette:

(1) Dont read other inappropriate materials in the class

(2) Dont talk to anyone other than the instructor

(3) Dont arrive late

(4) Dont do work unrelated to this class

(5) Dont sleep in class

(8) Dont let cell phones ring

(9) Dont violate Air University Code of Student Conduct

or leave early
http://www.jc-solarhomes.com/photo-voltaic.htmhttp://www.mindworkshop.com/alchemy/gifcon.html


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Name : Fida Muhammad

Retired as Group Capt from PAF (25 Aug,2009) [email protected] [U can send subject related questions]

Ph D : Michigan State University USA

MS : Brunel University England

BE : UET - Peshawar

Belongs : Malakand Agency Village Dargai Mobile: 03348910933 (class senior can call/talk, rest send

SMS regarding subject related questions)

Instructor


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EE-.

CONTROL SYSTEMS

Lecture No 1

Electr ical Engineer ing Department

Text Book: Chapter 1

Page No: 1-10 & 12 - 20

INTRODUCTION TO FEEDBACK

CONTROL SYSTEMS

Instructor: Dr. Fida Muhammad

Class: .


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Course Information

Course Title: CONTROL SYSTEMS

Credit hrs: 3-0-3Lab (yes)

Prerequisites For this Course: Calculus II (Laplace Transforms)

Instructor: Dr.Fida M Khan, Syed Zafar Ali

e-mail :[email protected] :[email protected]

Mini Block 3rd

FloorAcademic Block B, 1st Floor

Text Book:. RAYMOND STEFANI.DESIGN OFFEEDBACKCONTROL SYSTEMS

Reference Book(s): RICHARD C DORFMODERN CONTROLSYSTEMS FRANKLIN, CONTROL SYSTEMS


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Assignments & Lab Reports: The assignments will be submitted

as desired by the instructor. The labs will be conducted as

required for the course.

Pre- Requisite: Calculus II (Laplace Transforms), Machines

Grading Policy:

Quizzes : 10 %

Labs Work : 10 %

MIT : 25 %Assignments : 05%

Project : 10%

Final : 40%


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Lecture Plan:

Week Topic

1 Introduction to Control Systems

2 Mathematical modeling of Mechanical Systems

3 Mathematical modeling of Electrical Systems

4 Block diagram algebra

5 Signal flow graph and Masons gain formula

6 Second order system & control performance parameters

7 Root Locus Analysis

8 Bode Plot Analysis

9 Midterm

10 Nyquist plot

11 Root Locus design

12 Bode based design

13 PID control

14 State space modeling

15 Controllability and Observability

16 Revision


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Subject title: CONTROL SYSTEMS

Book title: DESIGN OF FEEDBACK

CONTROL SYSTEMS


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Goal of This Lecture

(a) Terminology/technology and examples relevant to controls sys

(b) Overview of feedback, explain how feedback control works

(c) Describe how Feedback control is applied

(d) Present basic electronic circuits needed to support control sys.

Very Quickly

ATTENTION PLEASEFor To-Day Only

NO QUESTION DURING PRESENTATION

Date: 26 January, 2010


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Feedback Control Systems

EE ..

A & B

Feedback Control Systems

as the Sensing Organs,Hands andFeet are to the Human Beings

Nowadays, in the automatic/servo systems

the application of Feedback controlled systems along

with Sensors & Transducers are pervasive:

that is it is difficult to find any machine or appliances

that do not have integrated Feedback systems

(Electrical, Mechanical or Electromechanical)


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Mechatronics

Industrial Automation

Sensors and Transducers

Electromechanical Systems

Micro Electro Mechanical Systems (MEMS)

Nano Electro Mechanical Systems (NEMS) : Nano Technology

Robotics

Feedback Controls - Pre Requisite (Required) For Subjects


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Controls

Mechanics

Sensors

Electronics

Software


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Air University(Plant)

Students

(Actuator)

Teaching

Activities

(Controller)

Air Un

Environment

Disturbance

Parties, Chit ChatGames, TV, Net

Output

Result

For students in a College, a ???..loop College environment is shown in a

block diagram. This type of system with NO REGULAR check (Feedback) on

the students. If there are no quizzes, home assignments, midterm exams, we

call that system as an (Open Loop / Closed Loop ??)

YearlyExam

Performance

Students

Intake

Example of Open-Loop System i.e without Feedback

Cl d L S t i ith F db k


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Air University

(Plant)

Students

(Actuator)

Teaching

Activities

(Controller)

Air Un

Environment

Disturbance

Parties, Chit Chat

Games, TV, Net

Reference

(Standard)

(Sensor)End & Mid,Terms

Quizes, Labs

Assignments

Output

Result

Controller

+-

For students in a College, a ??? loop College environment is shown in a

block diagram. This type of system is for regular check on the students. If there

are no quizzes, home assignments, midterm exams, we call that system as

an .(Previous slide)

Error

Closed-Loop System i.e with Feedback


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Electro-

Mechanical

What is a Actuator?

Actuator is a device which produce

mechanical energy (output motion) in

response to some type of energy input.

Energy

Electrica

l

Thermal

Fluid

Hydraulic

Pneumatic

Mechanical

Chemical

Actuator Motion

Rotary

Linear

Complex


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What is a sensor?

Measurement

Temperature

Force

Distance

Speed

SensorElectrical

Signals

Types of Sensors

Active.. Need External Power

Passive.. No External Power

Voltage

Sensors are transducers that produce (transform) electrical

energy (signals) as a result of some type of stimulation

(measurement space)

Voltage

Current

Digital

PHOTORESISTOR


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PHOTORESISTOR are simple resistors that altar resistance

depending on the amount of light place

over them. More light means less

resistance.

Photocell


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Photocell


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LIGHT SENSOR

Photo conductive cells


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THE PRESET RESISTOR

Resistance

(insulation)Decrease

with Water

Drops

Reducing PresetResistance willAlarm early (with

few drops).

Changing

preset

resistance

with screw

driver

R

)ttancons(VI

I.VPower

Increase Power

activate relay toenergize Piezo Buzzer

Relay


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Variable reluctance pickup


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Thermistor(Temp range -100 to 275C) It is a type of resistor used

to measure change intemperature

When temperature rises--

resistance decreases

Uses:

Temperature sensing

Temperature control appliances

Characteristics:

Small size -- rapid response


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Main principle of thermocouple: Minimum 2 conductors (like A & B) will form 2 junctions

(like p & q) If junction temperatures (T1 & T2) are equal then nocurrent flows through the circuit

Net emf is a function of:

Material of conductors (A & B) Temperature of junctions (T1 & T2)

Two junctions are always required:1. Hot or measuring junction= sensing unknown temperature

2. Cold or reference junction= fixed at known temperature

Thermocouple

T1 T2

p q

A

B


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In The Next 3-Slides

Air conditionCooling System

is explained


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Compensator+-

Gain=102mV20mV

220V, 50Hz

WAPDA Supply

Reference20mV=200C

Desired

Error=0 volts

150C

200C

0.15 0.2

Volts

Temperature

+

-

200C

Thermistor

Converts

Heat into

voltsAmplifier

(Op-Amp

+

-

+

-


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Compensator+-

Gain=101.5mV15mV

220V, 50Hz

WAPDA Supply

Reference20mV=200C

Desired

Error=+5 v

150C

200C

0.15 0.2

Volts

Temperature

+

-

150C


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Compensator+-

Gain=102.5mV25mV

220V, 50Hz

WAPDA Supply

Reference20mV=200C

Desired

Error= -5 v

150C

200C

0.15 0.2

Volts

Temperature

+

-

250C


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Other Examples of Feedback Control Systems

Human Body Temperature

Car driving

Refrigerator

Air Condition Plant

Car Thermostat system

What do we call this system? Open Loop System


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What do we call this system? Open Loop System

Closed Loop System


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Closed Loop System

Closed Loop


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Below is a system designed to monitor the temperature of a car radiator. When

the radiator temperature becomes too high the voltage from the temperature

sensor and sensor unit changes. The comparator detects this change in voltage

and activates the transducer. The transducer driver provides enough power for

the motor to operate, cooling the car radiator.

Closed Loop

System


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Logic diagram: A micro-switch (pressure pad) as one input device and a dark

sensing circuit as the other. If both inputs ofAND gate are activated - the dark

sensor and the micro-switch - the logic state of the output changes to high andthe motor releases food to the hungry dog.

Examples of control systems: Automobile Steering Control


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Examples of control systems: Automobile Steering Control

System.


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Automobile Radar


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A Control System Disk drive read system.

The variable to control is

the Position of the reader

head.

A closed control Systemcan be applied for this purpose.

Mechanical


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Fly

BY

Wire

More

Electrical

Aircraft

OR

Pilot Input : MechanicalMechanical

Transmission

Output :Mechanical


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Analog Fly By Wire

Pilot Input : Mechanical

Mechanical

Transmission

Output :Mechanical

Mechanical to Hydraulic

Drive (Actuator)


Mechanical to Electrical

(Potentiometer)

Analog ElectricalTransmission

Analog ElectricalTransmission

Electrical to Hydraulic

Drive (Actuator)

Output :Mechanical



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Digital Fly By Wire


Mechanical to

Analog Electrical

(Potentiometer)

Analog Electrical

Transmission

Electrical to Hydraulic

Drive (Actuator)

Output :Mechanical

Digital Electrical

Transmission

Digital Electrical

Transmission

Analog Electrical

Transmission

Complete

Fly By WireBy Using

Electrical

Actuators


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A typical car now has more than

70 sensors

Genesis of the Successful F-16 Fighter/Attack Aircraft Lays inReaction to Severe the World's First Aircraft to be

AerodynamicallyUnstable by Design.

Making Sense Out of Sensors with

feedback !!

Makes F-16 the Most StableAircraft

in the World

New Technologies ???

With Feedback contrpl


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In Short:

Sensors and Transducers are the Eyes and Ears of modern

measurements, instrumentation and control systems

Measured ?

Touch - Environment

Estimation ?

No Way To Touch The Environment

A Sensor with Feedback system is a machines way to See,Hear, and Touch the environment

Magnetic Levitation


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Magnetic Levitation

Trains can magnetically fly over aroadbed with position sustained bysome kind of control system

Magnetic Levitation


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g

Trains can magnetically fly over a roadbed with position

sustained by some kind of control system


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Battery operated Electric vehicle

M/

G

MotorCharger

Series Hybrid Electric Car


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Series Hybrid Electric Car

Run at Their Maximum Efficiency

35% 85%

Input : Mechanical

Power

Transform to

Electrical

Power

Output:

MechanicalPower


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Parallel Hybrid Electric Car


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Series Parallel Hybrid Electric Car


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Automotive applications for by-wire


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By-wire technology lateradapted to automobiles:

throttle-by-wire and brake-by-wire.

Steer-by-wire poses amore significant leap from

conventional automotivesystems and is still severalyears away.

Just as fly-by-wire did to

aircraft, steer-by-wirepromises to significantlyimprove vehicle handlingand driving safety.

Automotive applications for by wire


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Force feedback system

introduction steering system estimationvehicle control conclusion

Lecture Objectives


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Lecture Objectives Introduction to control systems

To familiarize students with open loop and close

loop systems - Done

Why we need mathematical modeling?

To discuss modeling methodology of physicalsystems

To have a visit to control lab

Control Engineering


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Control Engineering

An exciting and a challenging field

It is a multidisciplinary subject

A core course in engineering curriculum

It needs strong mathematical foundation

Basic Concepts


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Basic Concepts This course is concerned with the analysis and design

of closed-loop control systems.

Analysis: given a system, determine its characteristics

or behavior.

Design: specify the desired system characteristics or

behavior, must configure the system so that it exhibits

these desired characteristics.

Closed-loop system: system inputs are functions of

system outputs and vice versa.

setsensorTT

Process (plant) to be controlled:


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Open-loop control system:

Closed-loop control system:


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System Modeling


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System Modeling


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Mathematical Models

Design of engineering systems by trying and errorversus design by using mathematical models.

Physical laws such as Newtons second law of motionis a mathematical model.

Mathematical model gives the mathematical

relationships relating the output of a system to itsinput.

Mathematical Models


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Mathematical Models

Control systems give desired output by controlling

the input. Therefore control systems andmathematical modeling are inter-linked.

System Modeling


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System Modeling


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System Modeling


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System Modeling


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System Modeling

System Modeling


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System Modeling

1.5 Electrical Components (page10)


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System Modeling

1.6 Translational Mechanical Components (page 25)


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p (p g )


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Review Questions

What do u understand from title of this course?

Examples of open loop systems?

Examples of closed loop systems?

Why system modeling is important?

Examples of time variant systems?

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Ch1 Introduction&Modeling 1

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