Chapter 1: Introduction

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Chapter 1
Introduction
Chapter 1: Introduction
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Figure 1.1
Simplified description
of a control system
Chapter 1: Introduction
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Figure 1.2
a. Early elevators
were controlled by
hand ropes or an
elevator operator.
Here, a rope is cut
to demonstrate the
safety brake, an
innovation in early
elevators;
b. Modern Duo-lift
elevators make
their way up the
Grande Arche in
Paris, driven by one
motor, with each car
counterbalancing the
other. Today, elevators
are fully automatic,
using control systems
to regulate position
and velocity.
Chapter 1: Introduction
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Figure 1.3
Rover was built to
work in contaminated
areas at Three Mile
Island in Middleton,
PA, where a nuclear
accident occurred in
1979. The remote
controlled robots
long arm can be seen
at the front of the
vehicle.

Chapter 1: Introduction
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Figure 1.4
a. Video laser disc
player;
b. objective lens
reading pits on a
laser disc;
c. optical path for
playback showing
tracking mirror rotated
by a control system to
keep the laser beam
positioned on the pits.

(a)
(b)
(c)
Chapter 1: Introduction
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Figure 1.5
Elevator input and
output
Chapter 1: Introduction
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Figure 1.6
Block diagrams
of
control
systems:
a. open-loop
system;
b. closed-loop
system
Chapter 1: Introduction
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Figure 1.7
Computer hard disk
drive, showing disks
and read/write head

Chapter 1: Introduction
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Figure 1.8
The search for
extraterrestrial life is
being carried out with
radio antennas like the
one pictured here. A
radio antenna is an
example of a system
with position controls.
Chapter 1: Introduction
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Figure 1.9
Antenna azimuth position
control system:
a. system concept;
b. detailed layout;
c. schematic;
d. functional block diagram
Chapter 1: Introduction
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Figure 1.10
Response of a
position
control system
showing effect of
high
and low controller
gain on the output
response
Chapter 1: Introduction
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Figure 1.11
The control
system
design process
Chapter 1: Introduction
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Chapter 1
Modeling in the Frequency Domain
Chapter 1: Introduction
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Figure 2.1
a. Block diagram
representation
of a system;
b. block diagram
representation
of an
interconnection
of subsystems


Chapter 1: Introduction
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Table 2.1
Laplace transform table
Chapter 1: Introduction
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Table 2.2
Laplace
transform theorems
Chapter 1: Introduction
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Figure 2.2
Block diagram of a
transfer function
Chapter 1: Introduction
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Electric Network Transfer Function

Chapter 1: Introduction
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Table 2.3
Voltage-current, voltage-charge, and impedance
relationships for capacitors, resistors, and inductors
Chapter 1: Introduction
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Figure 2.3
RLC network
Chapter 1: Introduction
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Figure 2.4
Block diagram
of series RLC
electrical network
Chapter 1: Introduction
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Figure 2.5
Laplace-transformed
network
Chapter 1: Introduction
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Translational Mechanical System
Transfer Function

Chapter 1: Introduction
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Table 2.4
Force-velocity, force-
displacement, and
impedance translational
relationships
for springs, viscous
dampers, and mass
Chapter 1: Introduction
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Figure 2.15
a. Mass, spring, and
damper system;
b. block diagram
Chapter 1: Introduction
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Figure 2.16
a. Free-body diagram
of mass, spring, and
damper system;
b. transformed free-
body diagram
Chapter 1: Introduction
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Figure 2.17
a. Two-degrees-of-
freedom translational
mechanical system
8
;
b. block diagram
Chapter 1: Introduction
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Figure 2.18
a. Forces on M
1
due
only to motion of M
1

b. forces on M
1
due
only to motion of M
2

c. all forces on M
1

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Figure 2.19
a. Forces on M
2
due
only to motion of M
2
;
b. forces on M
2
due
only to motion of M
1
;
c. all forces on M
2
Chapter 1: Introduction
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Rotational Mechanical System
Transfer Function

Chapter 1: Introduction
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Table 2.5
Torque-angular
velocity, torque-
angular displacement,
and impedance
rotational relationships
for springs, viscous
dampers, and inertia
Chapter 1: Introduction
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Figure 2.22
a. Physical system;
b. schematic;
c. block diagram
Chapter 1: Introduction
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Figure 2.23
a. Torques on J
1

due only to the
motion of J
1

b. torques on J
1

due only to the
motion of J
2

c. final free-body
diagram for J
1

Chapter 1: Introduction
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Figure 2.24
a. Torques on J
2

due only to the
motion of J
2
;
b. torques on J
2

due only to the
motion of J
1

c. final free-body
diagram for J
2

Chapter 1: Introduction
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Figure 2.25
Three-degrees-of-
freedom rotational
system
Chapter 1: Introduction
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Transfer Function for System
with Gear

Chapter 1: Introduction
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Figure 2.27
A gear system
Chapter 1: Introduction
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Figure 2.28
Transfer functions for
a. angular displacement in
lossless gears and
b. torque in lossless
gears
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Figure 2.29
a. Rotational
system driven
by gears;
b. equivalent
system
at the output after
reflection of input
torque;
c. equivalent
system
at the input after
reflection of
impedances
Chapter 1: Introduction
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Figure 2.30
a. Rotational mechanical system
with gears;
b. system after reflection of
torques and impedance to the output
shaft;
c. block diagram
Chapter 1: Introduction
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Figure 2.31
Gear train
Chapter 1: Introduction
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Electromechanical System
Tranfer Function

Chapter 1: Introduction
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Figure 2.34
NASA flight
simulator
robot arm with
electromechanical
control system
components
Chapter 1: Introduction
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Figure 2.35
DC motor:
a. schematic
12
;
b. block diagram
Chapter 1: Introduction
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Figure 2.36
Typical equivalent
mechanical loading
on a motor
Chapter 1: Introduction
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Figure 2.37
DC motor driving a
rotational mechanical
load
Chapter 1: Introduction
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Figure 2.38
Torque-speed
curves with an
armature
voltage, e
a
, as
a parameter
Chapter 1: Introduction
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Figure 2.39
a. DC motor and load;
b. torque-speed curve;
c. block diagram
Chapter 1: Introduction
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Figure 2.40
Electromechanical
system for
Skill-Assessment
Exercise 2.11
Chapter 1: Introduction
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Electric Circuit Analogs

Chapter 1: Introduction
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Figure 2.43
Development of
parallel analog:
a. mechanical
system;
b. desired
electrical
representation;
c. parallel
analog;
d. parameters
for
parallel analog