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Control Systems
Rick Hill, PhD
Dept of Mechanical Engineering
Introduction to modeling
Solving differential equations
Free response
Forced response
Translate
types of models
physical vs.
empirical
mathematical
graphical
physical
system
Plant
Design (and
Constructio
n)
purpose of models
analysis
design
verification
diagrams
math
Model
behavior
Analyze
types of analysis
time domain
frequency domain
simulation
hardware in the
loop (HIL)
control
system
Controller
Design
types of control
supervisory
logic control
on/off control
P, PI, PD, PID
advanced
techniques
customer
input / govt
eng specs
regulations
desired
speed
Control
Engin
Algorith
e
throttle
m
force
angle
(voltage)
Car
actual
speed
Open-loop Control
[feedforward]
desired
speed
advantages
simple to design
inexpensive
doesnt affect
stability
fast response
wind force,
gravity force
Control
Engin
Algorith
e
+
throttle
m
force
angle
(voltage)
Car
disadvantages
sensitive to errors
in model
sensitive to
disturbances
needs periodic
recalibration
actual
speed
Closed-loop Control
[feedback]
advantages
robust to errors
in model
robust to
disturbances
D wind force,
gravity force
CONTROLLER
ACTUATOR
PLANT
Control
R + E
-U
Engin
Algorith
Car
e
+
desired throttle
m
force
speed
angle
(voltage)
SENSOR
measured
speed
Speedomete
r
disadvantages
extra complexity
extra cost
can affect stability
can be slow to
respond
Y
actual
speed
Introduction to Modeling
A model is an abstraction of the
physical world
ENGR 4220/5220 Lecture 1
Model Derivation
Model Derivation
From empirical data
SYSTEM
Complexity Depends on
Purpose
Simple enough to generate closed-form
solution
Less accurate, but provides intuition
di
K b& ea
dt
&
T b& J&
Ra ia La
10
Complexity Depends on
Purpose
Simulation model: more accurate
Static Systems
Dynamic Systems
Output is determined
only by the current
input, reacts
instantaneously
Relationship does not
change (it is static!)
Relationship is
represented by an
algebraic equation
input
SYSTEM
output
12
Viewpoint
500
450
400
Tstall
300
250
200
150
torque
100
50
0
ea1
0.5
1.5
Time
2.5
ea2
no-load
speed
Motor Torque
13
Motor Speed
350
0.5
1.5
Time
2.5
Solving Differential
Equations
Homogenous differential equations
2t
& bx& kx 0
mx&
14
Solving Differential
Equations
Homogenous differential equations
& bx& kx 0
mx&
m b k 0
2
1,2
b
b 4km
2m
2m
2
15
1t
2 t
displacement, x
Solving Differential
Equations
16
time
Solving Differential
Equations
If the roots are complex, then can
rewrite in sines and cosines using
Eulers identity:
jt
Therefore,
cos t j sin t
a1e
( d j ) t
a1e
e
a2 e
t d jt
( d j ) t
a2 e
t d jt
( A cos d t B sin d t )
17
Solving Differential
Equations
( A cos d t B sin d t )
x(t ) e
18
Solving Differential
Equations
Forced differential
equations
& bx& kx F (t )
mx&
19
Example
&
x& 8 x& 25 x 2t
has a solution of the form
x(t ) e
4 t
( A cos 3t B sin 3t ) at b
xh(t)
xp(t)
where
the homogenous portion dies out
(transient)
the particular portion remains (steady
state)
Example
Consider other types of forcing
functions:
&
x& 8 x& 25 x 5
&
x& 8 x& 25 x 3e
x(t ) e
4 t
2 t
( A cos 3t B sin 3t ) ae
2 t
&
x& 8 x& 25 x 5sin 2t
x(t ) e
4 t
Example
Find the solution x(t) forx& 3 x 0, x(0) 5
Example
2 t
&
x
3
x
e
, x(0) 5
Find the solution x(t) for
Example (continued)