INTRODUCTION TO CONTROL SYSTEMS Course Objectives 1 Model

INTRODUCTION TO CONTROL SYSTEMS Course Objectives 1. Model common control system components. 2. Select an appropriate control algorithm of PID type or one of its variations. 3. Analyze the performance of a control algorithm using transfer functions, block diagrams, and computer methods, in light of given performance specifications. 4. Using MATLAB and Simulink to analyze and simulate control systems A system consists of subsystems anddynamics plants foristhe ofcontrol obtaining a desired A control major aplication of the methods of system thepurpose design of systems. output with desired performance, given a specified input.

Basic Components of a Control System 1. Objectives of control (Inputs) 2. Control system components (Controller, plant, actuator, sensor, …) 3. Results (Outputs) Automobile : Sensors fluid flow, Home Heating System Sensors (Temperature, pressure, torque, fluid flow). Actuators Robot : Sensors (Optical: (Displacement, speed, force, pressure, temperature, image, displacement, speed, force, pressure voltage, (Motors, heat sources) fluid level voltage, current). Actuators (DC motors, step motors, pumps, heat sources) current). pumps, Actuators (AC motors, DC motors, step motors, hydroulic actuators) Control systems Open-loop control sytems Closed-loop control sytems

Open Loop Control Systems: Input Controller v u Actuator Plant Output Sensitive to changing in parameters and disturbance. Closed Loop Control Systems: (Feedback Systems) Error Reference + - Control (Actuation) Signal Controller Sensing signal Disturbance Actuator + + u Plant Error signal= Reference – Sensing signal Sensor Output

Examples of Control System Applications Washing machine Step motors Heater Home heating system Idle-speed control Robots Cruise control

Home Heating Control System Controller (Thermostat) : Reference temp. : Measured temp. : Disturbance (heat transfer: door, window, wall, etc. ) Error + - Controlller (Thermostat) Temperature Sensor Control signal Fuel flow Heater Valve Status Control action Cold Open valve Hot Close valve Valve + + Plant Temp. Sensor

Cruise Control System Usage in 1990’s Driver comfort Save fuel Error signal Reference + - Control signal Controller Road Fuel conditions flow Actuator (Valf) + + Vehicle speed Motor and Powertrain system Measured speed signal Speed Sensor Speed

a) Mathematical model (Cruise Control System) : Fp: Pushing force (from engine) Fd: Distrubance (wind, gravity, enviromental factors, etc. ) b) Closed loop control:

Control Aplications with Industrial Robots Inverted pendulum control Ball grabber