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Control Introduction

The document provides an overview of control systems, distinguishing between open loop and closed loop systems, including their components, characteristics, and examples. It discusses the mathematical foundations such as transfer functions, poles, zeros, and the significance of feedback in closed loop systems. Additionally, it covers the procedures for modeling mechanical systems and the implications of parameter variations in control systems.

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SAM'z SquaD
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3 views

Control Introduction

The document provides an overview of control systems, distinguishing between open loop and closed loop systems, including their components, characteristics, and examples. It discusses the mathematical foundations such as transfer functions, poles, zeros, and the significance of feedback in closed loop systems. Additionally, it covers the procedures for modeling mechanical systems and the implications of parameter variations in control systems.

Uploaded by

SAM'z SquaD
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G 1.1. Introduction H 22 Open Loop Control System 13, _ Closed Loop Control System A 14 Comparison Between Open Loop & Closed Loop Elements or components of closed loop systems Transfer Function for Single Input Single Output System Procedure Characteristic equation of a transfer function Poles and zeros of a transfer function RR 1.10, Impulse Response 447. Translational Systems 1.12: ~ Rotational System 1.13. D'Alembert’s Principle 1a! 1.20. 1.24. 1.25. 1.28. 1.29. 1.30. 131. 1.3 E 1.33. _L.14 f(D exists ¢ i(*) = aF as) Elf, O*f, Ol = F,(s) « Fa(s) (complex multiplication) Intial value theorem Lim f(t) = Lim sF(s) 140 se Final value theorem Lim sF(s) = Lim sF(s) tae 10. i. 12. 13. 14. 15. 16. 4-. 1 1-2 1 ie Unit Impulse Unit Step t NE 1,2, 3, a eu sin wt cos wt e* sin wt e* cos wt 5 8 sin wo, Y1-E2 1-§) ent gin (>. 1-8? t+tan™ ~E,t e af 1-8? t-tan? Asean] Laplace Transform Fairs g vce g | s+a oad (s+a)* es (s+a)" peal (s+a)(s+b) . —_s* +0? pe st+07 Oa (sta)? +07 sta (sta +07 @, A 87 +2E0,5+ 0, @, s(s? +2&0,5+@,") Pee 5° +2E0,5 +0," 1 (8(s+a)(s+b) Loop Systems; 1.8. Transfer Function for Single Input Single 4.7. Procedure; 1.8. Characteristic Equation of a Transfer Function; 1.9. Poles and Zeros of a Transfer Function; 1.10. Impulse Response; 1.11. Translational Systems; 1.12. Rotational System; 1.13. D'Alembert’s Principle; 1.14. Procedure of Writing the Models of Mechanical System; 1.15. Analogous System; 1.16. Mechanical Equivalent Network; 1.17. Mechanical Coupling: 1.18. Block Diagram Representation; 1.19. How to Draw the Block Diagram; 1.20. Closed Loop Control System; 1.21. Multi-input-Multi-output System (MIMO: 4.22. Block Diagram Reduction; 1.23. Block Diagram and Transfer Function of d.c. Motor: 4.24, Signal Flow Graph; 1.25. Properties of Signal Flow Graph; 1.26. Comparison of Block Diagram and Signal Flow Graph Method; 1.27. Construction, of Signal Flow Graph from 4 h for Differential Equations; 1.29. 4,30) M s Gain Formula; TE I EE, 1.1, 1 juUCTI ‘The control system is very important for all engineers. The first significant control device was James Watt's flyball governer. This was invented in 1767 to keep the speed of the engine constant by regulating the supply of the steam to the engine. In control system the behaviour of the system is described by the differential equations. Minorsky, in 1922 showed that how to determine the stability from the differential equations describing the systems. The differential equations may be ordinary differential equations or the difference equations. The control system can be classified as open loop control system and closed loop control systems. ; a PEN LOOP CONTROL SYSTEM : . pee without feedback or ea ‘The open loop control system is also known as control system on fetta, control systems. In open loop systems the control action is independent of the desired oytp, F Ut In i the output is not compared with the reference input. Re aa the open loop systems are controller and ae The Controller may be amplifier, filter etc. depends upon the system. An inp PI controller ang the output of the controller gives to the controlled process fand we get the Input output (desired). Examples : 1. Automatic washing machine is the example of the open loop systems. In the machine the operating time is set manually. After the completion of set time the machine wil] stops, with the result we may or may not get the desired (output) amount of cleanliness Controller Output Fig. 1.4. of washed cloths because : eld Speed there isno feedback is pro- Input,| Field) [Torque) | Pe oni vided to the machine for Ref “| dc. motor Load Position desired output. Fig. 1.2. © 2. Immersion rod is another example of open loop system. The rod heats the water but how much heating is required is not sense by the rod because of no feedback to the rod. 3. A field control d.c. motor is the example of open loop system. 4. For automatic control of traffic the lamps of three different colours (red, yellow and green) are used. The time for each lamp is fixed. The operation of each lamp does not depends upon the density of the traffic but depends upon the fixed time. Thus, we can say that the control system which operates on the time basis is open loop system. ad es: 1. Open loop control systems are simple. 2. Open loop control systems are economical. 3. Less maintenance is required and not difficult, 4. Proper calibration is not a problem. \, Pisadvantages :1. Open loop systems are inaccurate, 2. These are not reliable. 3. These are slow. / 4. Optimization is not possible, ~v a Closed loop control systems are also known as feedback control systems, In closed loop conto systems the control action is dependent on the desired output. If any system having one or more feedback paths forming a closéd 146p system, In closed loop systems the/oirtput is compared with the reference input and error signal © Produced, The error signal is fed to the controller to reduce the error and desired output obtained. a“ : : 1 Error signal Reference = Controlled Input 3 Amplifier |—>) Controller |—>} Process output $ Feedback Fig. 1.3. Example : In a room we need to regulate the temperature and humidity for comfortable living. Air- conditioners are provided with thermostat. By measuring the actual room temperature and compared it with desired temperature, an error signal is produced, the thermostat turns ON the compressor or OFF the compressor. The block diagram is shown in Fig. 1.4. Desired temp. Room temp. 1 Fig. 1.4. pheoas : 1, These systems are more reliable. 2. Closed loop systems are faster. 3. A number of variables can be handled simultaneously. wh 4. Optimization is possible. Disadvantages : 1. Closed loop systems are expensive. 2. Maintenance difficult. 3. Complicated installation. COMPARISON BETWEEN OPEN LOOP & CLOSED LOOP Table 1.1 | Itis difficult to build. | They accurate because of feedback. are less stable. “ELEMENTS OR COMPONENTS OF CLOSED Loop SYSTEMS The various components of closed loop system are shown in Fig. 1.5 Fip. 1.8. Command : The command is the externally produced input and independent of the feedback, contro} system. ; : Reference input element : This produces the standard signals proportional to the command, Error detector: The error detector receives the measured signal and compare it with reference input, The difference of two signals produces the error signal. Control clement : This regulates the output according to the signal obtained from error detector. Controlled system : This represents what we are controlling by the feedback loop, Feedback element : This element fed back the 1¢ output to the error detector for comparison with the reference input. Thetransfer functions defined as the ratio of Laplace transform of the ‘output to the Laplace transform of input with all initial conditions are zero, Consider a linear system having input r(t) and c(t) is the output of the system, the input-output relation can be described by the fo lowing n"-order differential equation : "city a" elt) de(t) a(t) amy ar(t) ar eee a tact) ba Gp tbs SO Ose (11) where ‘a’ and ‘b’ are constants, Take the Laplace transform of equation (1.1) #938 ¥ san + 8 4.09) CLS) = (by 54 b nS by SE + BSH R(S) (12) We can define the transfer function as C(s) SO) = Ry ls) RG) In equation (1.3), ifthe order of the denominato a R@) polynomial is greate “{- 4 than the order of the numerator Polynomial then the transfer function s sad to be STRICTLY PROPER. If the order of both Polynomials are same, then the transfer function is PROPER. The transfer function 6 said to be IMPROPER, if the order of numerator polynomial is greater than the order of denominator polynomial R, ifthe order o} 8" +b ht 54) (asa, st GC) = totasta) ler the block dia, gram of open loop control 5} stem Fig. 1.6 where R(s) and C(s) are the Laplace transform of input i ih and output respectively, then the transfer function G(s) ‘can be expressed as (1.4) The following steps are involved to obtain the transfer function of the given system. Step 1 = Write the differential equations for the given system Step 2 Take the laplace transform of the e conditions are zero, Step 3: Take the ratio of transformed of Step 4 : The ratio of transform ‘uations obtained in step 1, with assumption; al initial nutput fo input ‘ed output to the input, obtained in step 3 is the required transfer fanction of the given system. The characteristic equation of a linea: polynomial of the transfer functi of equation (1.3) will be pS + OST a AS + Ag = T system can be obtained by equating the denominator ion to zero. Thus, the characteristic equation of the transfer function (1.5) Consider the equation (1.3), the numerator and denominator can be factored in m and n terms respectively, then the equation (1.3) can be expressed as C(s) _ K+2Z,)(8+Zp)(as* +bs+c) = = +=(1.6) Re ap eHpa As Bsc) seu is known as the gain factor, sis the complex frequency POLES : The poles of G(s) are those values of 's' which make G(s) tend to infinity. For example in equation (1.6) we have poles at s =~ p,,s =~p, and a pair of poles at _ -B+ VB? -4AC soa (7) ZEROS : The zeros of G(s) are those values of 's' which make G (1.6) we have zeros at §, = ~ Z,, 5) =~ Z, and a pair of zeros at (s) tend to zero. For example in eq. a (1.8) If either poles or zeros coincide, then such type of poles or zeros are called multiple poles or multiple zeros, otherwise they are known as simple poles or simple zeros. Multiple poles are due to the repetitive factor in denominator and multiple zeros are due to the repetitive factor in numerator ofa transfer function. : een ¢ jj Automatic Control Systems consider the transfer function 50(s+3) GO) = Fe 2N(8 +4" s ‘The above transfer function having the simple poles ats = 0,5 = -2, multiple poles at 5 = 4. the pole of order 2 at s = ~ 4 and simple zero at s The above, mentioned poles and zeros are of fin including infinity then two cases arises. 1. If the no. of zeros are less than the no of becomes zero forse». Hence we can say tl zeros is P - Z. For example in equation (1.9) there there is one finite zero at s = -3 but there are three the function has a total of four poles and four zeros 2. If the no. of poles are less than the no. of zeros P < Z then the value of the transfer function For example, =-3. ce ite values. If we consider the entire 's' Plibe poles ie. Z

0 Flo. an Input-Output Relationship // 7 Practically, it is not possible to i if i enerate a true impulse. A pulse with less duration than the time constant of the system can be considered as an impulse and denoted by &(). EXAMPLE 1.1. Find the ‘transfer, N function of the given network Solution : Step 1: Apply KVL in mesh (1) v; = Ried wa(1.13) v Apply KVL in mesh (2) al i Iiput Vo = LS (1.14) Fig. 1.8. Step 2: Take Laplace transform of 2 equations (1.13) and (1.14) with assumption that all initial conditions are zero. V{(s) = RI(s) + sLI(s) (1.15) Va(s) = sLI(s) (1.16) Step 3: Calculation of transfer function Vols) _ __sLi(s) Vi(s)_~ (R+sL)I(s) Vo(s) sL He a gz (1.17) Equation 1.17 is the required transfer function. EXAMPLE 1.2, Determine the transfer function of the electrical network shown in Fig. 1.10. Solution : Step 1: Apply KVL in both meshes R L E, ai) c= & 1f. Ey=e J idt (119) ; Step 2: Take Laplace transform of equations (1.18) and (1.19) Met E(s) = RI(e) + SLI (s) + dre = Ho[Reai+ $l ee E,= Ris L4G [itt (1.18) 2, £6) = uo) Reeetcet) Ras Es) = 2108) 08) = Oe (1.21) Step 3 : Determination of transfer function Ens) _ 108), Cs E\(s) ~ Cs 1(s)[s*Le+SRC +1) Eo(5) 1 E\(s) ~ S*LC+SRC+1 Ans, d =CH UV.) Fig. 1.11, Vy fete Put all these values in equation (1.23) Ra gtece (1.24) RR tae VV) (1.24) Step 2: Take Laplace transform of equation (1.24) als) R om V4{s) + C5 Vis) - Cs V5) Wea Ry VAS) + Ve 6) = V6) +Cs VY) of 2 7 2 wfc] ’ Step 3 : Determination of transfer function % of RtRo+ BEG). Ys pastes 1+R\Cs | RR, RX Va(s) Ry + RRCs Vis) “R+R,+RR,Cy Ans. ~=(E) EXAMPLE 1.4, Find the transfer function of lag network shown in Fig, 1.12, Solution : Step 1: Apply KVL in both meshes edt) = Rul) + Ryilt) + 2 J i(t) dt eo(t) = Rai (t) + J fiw dt Step 2: Laplace transform of equation (1 26) and (1.27) Bo =[R, +R Lh Ej(s) = [® ay g}o (1.26) (1.27) 1 BO =r [x + Eo Fo) __ 14 Cs 7 E\(s) ~ 14+R\Cs+R,Cs (1.28) Equation (1.28) is the required transfer function, EXAMPLE 1.5. Determine the transfer function of Fig. 1.13. Fig. 1.13. Solution : Step 1 : calculation of Z, : adi 5G, R Ara) TRcerl (1.29) te Step 2 : Calculation of Z,: “1 RGS41 = Rte = SG (1.30) Step 3 : Calculation of transfer function in terms of Z, and Z, Ex(s) ___2a(s) _ E,(s) — 2(8)+Z2(s) baal Step 4 :Calculation of transfer function in terms of Ry RyC, and C,, Put the values of Z, (s) and Z,(8) from equations (1.29) & 1.30 in equation (1.31) Eq(s) _ __(14+RsCy8)/Scp E(s) ~ Ry, RGS41 GRS+1” SC, Fy(s) __ (1+ R,C,S)(14R, Ex(s) (1+ R\C,S)(1+R,C,)+ RS ‘The above equation is the required transfer function of the given circuit. (1.32) a tomatic Control Systems = aaa ine the transfer function of given transformer coupled circuit (Fig, 2.9) EXAMPLE 1.6, Determine M: eft) Fig. 1.45. Solution : Apply KVL in both meshes if, di(t) yy do) A: eft) =r + oi atl Mae (1.33) ex(t) = Ryig(t) (1.34) d. 0=R,i,(t) + (L, +L.) Haloeg, ficoa-m Tao wu(1.35) Take Laplace transform of equation (1.33), (1.34) and (1.35) E\() = wo] R> dest] = SMI, (5) (1.36) cs E,{s) = Ry1,(s) (1.37) 0 = L{9)[R, + s(L, + L;) + 1/sC,] -s MI,(s) (1.38) Solving the equations (1.36), (1.37) and (1.38). The required transfer function. = SRC.CM CO) =. SR, $°C,(Ly +1g)+1] SLC, +8C,R, +1] MECHANICAL SYSTEM Li 1. TRANSLATIONAL SYSTEMS” es a aes a cea eee arr a ematical aa spi cone a straight line is known as translational motion. There are three types 1. Intertia Force : Consider a body of mass 'M' and i cl sider f acceleration ‘a’, th i : second law of motion the inertia force will be equal to the product of ae Meuse suene a Fy(t) = Ma(t) ) In terms of velocity the equation (1.39) becomes oe Fy(t) = mae) In f displ a = terms of displacement the equation (1.39) can be expressed as bex(t) ; Fuld = MEO a) (1.41) Fig. 446.

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