Control Systems

Control system: Controller influences the state of the controlled object.

Examples of control systems: heating control of living spaces speed control of electrical drives position control of robotic arms and endeffectors active damping of vibrations in mechatronic systems power control of turbines, voltage control of generators Controlled systems differ one from another, in spite of this they have some common properties: controlled objects are dynamic systems the range of available adjustments is constrained uncertainty characteristics of controlled objects unknown disturbances measurements are noisy

Example #1: Flyball Governor

Flyball Governor (1788) y Regulate speed of steam engine y Reduce effects of variations in load (disturbance rejection) y Major advance of industrial revolution
Balls fly out as speed increases,

Valve closes, slowing engine

Steam engine

Flyball governor

Boulton-Watt steam engine January 11, 2005

http://www.heeg.de/~roland/SteamEngine.html

Control = Sensing + Computation + Actuation

In Feedback Loop

Actuate
Gas Pedal

Sense
Vehicle Speed

Compute
Control Law Goals y Stability: system maintains desired operating point (hold steady speed) y Performance: system responds rapidly to changes (accelerate to 65 mph) y Robustness: system tolerates perturbations in dynamics (mass, drag, etc)

Open loop control system

r ... reference value, control input u ... controlling variable, power input y ... output, controlled variable z ... disturbance System without feedback An example: AC drive; speed of the motor varies by variable stator frequency

Feedback control system

Advantage of feedback systems: compensates uncertainty of the controlled object compensates disturbances To close the feedback we need sensors: position sensors: incremental encoder, resolver speed sensor: tachogenerator torque sensor: tensometer temperature sensor: thermometer, posistor

Resolver

Encoder

Tachogenerator

Tensometer

Introduction to dynamic systems

Time response of a dynamic system

Dynamic systems: variables are functions of the time Examples:

Linear dynamic systems satisfy the principle of superposition:

Mathematical models of dynamic systems

a) differential equations b) state space equations c) transfer functions

Differential equations

n order of the differential equation (order of the dynamic system) y output r input ai ,bi .. real constants
[Example (1) from the textbook]

Solution-methods of linear differential equations analytical methods numeric methods applying Laplace transformation

Numeric slution: 1. decomposition of a n-th order differential equation into the system of n first order differential equations 2. applying some numeric method: Euler's, Runge/Kutta..
[Example (2) from the textbook]

Laplace transformation converts the differential equation into an algebraic equation with complex variable s If all initial conditions are zero, then

[Example (3) from the textbook]

Mechanical system

For zero initial conditions the solution is

Electrical system

Electromechanic system DC machine

Numeric solution (Eulers Metod)

[ Example in MATLAB]

SIMULINK SOLUTION OF DIFFERENTIAL EQUATIONS

SIMULINK: graphical integration of diff. equations di/dt 167 1/L -KR 2.88 k dw /dt -Kk/J 1 s Integrator1 w dw /dt=k/J*i 1 s Integrator Proud k..machine constant i di/dt=1/L*(U-Ri-kw )

U 30 Constant

speed