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.

Learner

Lecture, Book, etc.

Information Source Class

Input

First:

Never ever limit yourself to a single source of information Use multiple sources

Lecture, Book, etc.

Information source ask an expert

Learner
Information source read a book Information source read another book Information source Internet search

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:
Query

Information source ask an expert

Query

Learner

Information source read a book Information source read another book

Query

Information source Internet search

Query

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 construct your own understanding:

Application
Write in your own words

Application
Describe what U learn output

Application
Teach your friend

Application
Build something

Application
Practice, practice, practice

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:

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 or leave early

(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

Instructor
Name Ph D MS : Fida Muhammad
Retired as Group Capt from PAF (25 Aug,2009) fida@mail.au.edu.pk [U can send subject related questions]

: :

Michigan State University USA Brunel University England

BE

UET - Peshawar
Malakand Agency Village Dargai

Belongs :

Mobile: 03348910933 (class senior can call/talk, rest send SMS regarding subject related questions)

EE-. CONTROL SYSTEMS Lecture No 1

INTRODUCTION TO FEEDBACK CONTROL SYSTEMS

Text Book: Chapter 1 Page No: 1-10 & 12 - 20

Instructor: Dr. Fida Muhammad Class: .

Electrical Engineering Department

Course Information Course Title: CONTROL SYSTEMS Credit hrs: 3-0-3 Lab (yes)

Prerequisites For this Course: Calculus II (Laplace Transforms) Instructor: Dr.Fida M Khan, Syed Zafar Ali

e-mail :fida@mail.au.edu.pk e-mail :zafarali@mail.au.edu.pk

Mini Block 3rd Floor Academic Block B, 1st Floor

Text Book:. RAYMOND STEFANI.DESIGN OF FEEDBACK CONTROL SYSTEMS Reference Book(s): RICHARD C DORF MODERN CONTROL SYSTEMS FRANKLIN, CONTROL SYSTEMS

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 Labs Work MIT Assignments Project Final

: : : : : :

10 % 10 % 25 % 05% 10% 40%

Week 1 2 3 4

Topic Introduction to Control Systems Mathematical modeling of Mechanical Systems Mathematical modeling of Electrical Systems Block diagram algebra

5
6 7 8 9 10 11 12 13 14 15

Signal flow graph and Masons gain formula

Second order system & control performance parameters Root Locus Analysis Bode Plot Analysis Midterm Nyquist plot Root Locus design Bode based design PID control State space modeling Controllability and Observability

Lecture Plan:

16

Revision

Subject title:

CONTROL SYSTEMS

Book title:

DESIGN OF FEEDBACK CONTROL SYSTEMS

Goal of This Lecture

Very Quickly
(a)
(b) (c) (d)

Terminology/technology and examples relevant to controls sys

Overview of feedback, explain how feedback control works Describe how Feedback control is applied Present basic electronic circuits needed to support control sys.

ATTENTION PLEASE

For To-Day Only

NO QUESTION DURING PRESENTATION Date: 26 January, 2010

Feedback Control Systems EE ..

A&B
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)
Feedback Control Systems
as the Sensing Organs, Hands and Feet are to the Human Beings

Feedback Controls - Pre Requisite (Required) For Subjects

Mechatronics Industrial Automation Robotics Electromechanical Systems Micro Electro Mechanical Systems (MEMS) Nano Electro Mechanical Systems (NEMS) : Nano Technology Sensors and Transducers

Mechanics
Controls

Electronics

Sensors

Software

Example of Open-Loop System i.e without Feedback

Students Intake Disturbance Parties, Chit Chat Games, TV, Net
Output

(Controller)
Air Un Environment

(Actuator) Teaching Activities

Air University (Plant) Students

Yearly Exam

Result

Performance

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 ??)

Closed-Loop System i.e with Feedback

Error Controller (Actuator) (Controller) Air Un Environment Teaching Activities Disturbance Parties, Chit Chat Games, TV, Net
Output

Reference

(Standard)

+-

Air University (Plant) Students

Result

(Sensor)
End & Mid,Terms Quizes, Labs Assignments 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)

What is a Actuator?
Actuator is a device which produce mechanical energy (output motion) in response to some type of energy input.
Complex

Electrica l Mechanical Thermal

Fluid Hydraulic Pneumatic

Energy

Actuator
ElectroMechanical

Motion
Rotary

Linear

Chemical

What is a sensor? Sensors are transducers that produce (transform) electrical energy (signals) as a result of some type of stimulation (measurement space)
Temperature Distance

Measurement
Force Speed

Sensor

Electrical Signals

Voltage Voltage Current Digital

Types of Sensors Active.. Need External Power

Passive.. No External Power

PHOTORESISTOR

are simple resistors that altar resistance depending on the amount of light place over them. More light means less resistance.

Photocell

Photocell

Photo conductive cells

LIGHT SENSOR

Resistance (insulation) Decrease with Water Drops

Relay

THE PRESET RESISTOR

Reducing Preset Resistance will Alarm early (with few drops).

I V(cons tan t ) R Power V.I

Changing preset resistance with screw driver

Increase Power activate relay to energize Piezo Buzzer

Variable reluctance pickup

Thermistor (Temp range -100 to 275C)

It is a type of resistor used to measure change in temperature When temperature rises-resistance decreases Characteristics:
Small size -- rapid response

Uses:
Temperature sensing Temperature control appliances

T1

T2

Thermocouple
p B q

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 no current 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

In The Next 3-Slides Air condition Cooling System is explained

Temperature

+ -

200C
150C Volts 0.15 0.2

220V, 50Hz

WAPDA Supply

Reference Error=0 volts 0C + 20mV=20

Desired

200C

+-

Compensator

Gain=10

20mV
Amplifier (Op-Amp

2mV

Thermistor Converts Heat into volts

Temperature

+ -

200C
150C Volts 0.15 0.2

220V, 50Hz

WAPDA Supply

Reference 20mV=200C
+Desired

Error=+5 v 150C
Compensator

Gain=10

15mV

1.5mV

Temperature

+ -

200C
150C Volts 0.15 0.2

220V, 50Hz

WAPDA Supply

Error= -5 v Reference 20mV=200C

+Desired

250C

Compensator

Gain=10

25mV

2.5mV

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

Closed Loop System

Closed Loop System

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.

Logic diagram: A micro-switch (pressure pad) as one input device and a dark sensing circuit as the other. If both inputs of AND gate are activated - the dark sensor and the micro-switch - the logic state of the output changes to high and the motor releases food to the hungry dog.

 Examples of control systems: Automobile Steering Control System.

Automobile Radar

A Control System
Disk drive read system. The variable to control is the Position of the reader head. A closed control System can be applied for this purpose.

Pilot Input : Mechanical

Mechanical Transmission

Fly BY
Output :Mechanical

Wire
OR

More
Electrical Aircraft

Pilot Input : Mechanical

Output :Mechanical
Mechanical Transmission Mechanical to Hydraulic Drive (Actuator)

Analog Fly By Wire

Pilot Input : Mechanical Output :Mechanical

Mechanical to Electrical (Potentiometer)

Analog Electrical Transmission

Electrical to Hydraulic Drive (Actuator)

Pilot Input : Mechanical

Analog Electrical Transmission

Output :Mechanical

Analog Electrical Transmission

Digital Electrical Transmission

Mechanical to Analog Electrical (Potentiometer)

Complete Fly By Wire By Using Electrical Actuators

Electrical to Hydraulic Drive (Actuator)

Digital Fly By Wire

New Technologies ??? With Feedback contrpl Genesis of the Successful F-16 Fighter/Attack Aircraft Lays in Reaction to Severe the World's First Aircraft to be Aerodynamically Unstable by Design.

Making Sense Out of Sensors with feedback !! Makes F-16 the Most Stable Aircraft in the World
A typical car now has more than 70 sensors

In Short:
Sensors and Transducers are the Eyes and Ears of modern measurements, instrumentation and control systems

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

Measured ? Touch - Environment

Estimation ?

No Way To Touch The Environment

Magnetic Levitation

Trains can magnetically fly over a roadbed with position sustained by some kind of control system

Magnetic Levitation

Trains can magnetically fly over a roadbed with position sustained by some kind of control system

Battery operated Electric vehicle

M/ G

Charger Motor

Series Hybrid Electric Car

Output: Mechanical Power

Input : Mechanical Power

Transform to Electrical Power

Run at Their Maximum Efficiency 35% 85%

Parallel Hybrid Electric Car

Series Parallel Hybrid Electric Car

Automotive applications for by-wire

By-wire technology later adapted to automobiles: throttle-by-wire and brakeby-wire. Steer-by-wire poses a more significant leap from conventional automotive systems and is still several years away. Just as fly-by-wire did to aircraft, steer-by-wire promises to significantly improve vehicle handling and driving safety.

Force feedback system

introduction

steering system

vehicle control

estimation

conclusion

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 physical systems

To have a visit to control lab

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
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.
Tsensor Tset

Closed-loop system: system inputs are functions of system outputs and vice versa.

 Process (plant) to be controlled:

Open-loop control system:

Closed-loop control system:

System Modeling

System Modeling

Mathematical Models
Design of engineering systems by trying and error versus design by using mathematical models. Physical laws such as Newtons second law of motion is a mathematical model. Mathematical model gives the mathematical relationships relating the output of a system to its input.

Mathematical Models
Control systems give desired output by controlling the input. Therefore control systems and mathematical modeling are inter-linked.

System Modeling

System Modeling

System Modeling

System Modeling

System Modeling

1.5 Electrical Components (page10) System Modeling

1.6 Translational Mechanical Components (page 25)

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?