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Lecture 1

Control Systems
16 513 - 011

Mufeed MahD
ECE, UML, Summer 2015

Course Outline
Tentative Course Description
Introduction to Control Systems & Mathematical Models of Systems
Review Linear Algebra and Matrix operations
State Variable Models
Feedback Control System Characteristics
The Performance of Feedback Control Systems

The Stability of Linear Feedback Systems


The Design of State Variable Feedback Systems

Prerequisite
16:413 Linear Feedback Systems

Tentative Textbooks

Modern Control Systems, 10/e by Richard C. Dorf and Robert H. Bishop. ISBN:
9780131457331
Design of Feedback Control Systems by Raymond T. Stefani, Bahram Shahian. ISBN-13:
978-0195142495 ISBN-10: 0195142497
Any other Control systems Textbook

ECE16513 Summer I -2015

Mufeed MahD, ECE, UML

Course Outline
Grading Policy
Exam 1 and 2 50%

Final Exam
50%
Remarks

All exams are OPEN book (only assigned textbook)


No makeup exams. If you missed an exam due to legitimate reasons, weight will be
scaled to other attempted work
No showing up for the final exam is an immediate F in the course.

Instructor
Mufeed Mahd, PhD PEng
ECE, UMASS Lowell, Ball Hall 321,
Tel (978)934-3317
Email: Mufeed_Mahmoud@uml.edu
Subject: ECE16513-SM2015

Office Hours: By appointment


ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Control Concept

A plant or process to be controlled.


(b) An open-loop control system.
Example of an open-loop control system.
Engine speed versus throttle angle curves.

(a)

(c)
(d)
ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Feedback Control Concept

(a)
(b)
ECE16513- Summer I -2015

A closedloop or feedback control


A closed-loop engine control system
Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Feedback Control Concept- Advantages

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Modeling
A mathematical model that behaves similarly as the actual system within some
operating range.

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Modeling- Linearization
Instead of nonlinear mathematical equation, a linear model that operates near
some value called (xo) can be obtained using
Taylor Series Approximation.

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Modeling- Electric Systems

Governed by KCL and KVL


Can be solved using Nodal or Mesh Analysis or any other techniques learned
in circuit theory
Normally systems are LTI, and can be solved using Laplace Transform.

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Modeling- Electric Systems

Components and Sources permit superposition principle.

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Modeling- Electric Systems- Example
Solving using Mesh Analyses

Mesh 1
Mesh 2

Collecting Terms

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Modeling- Electric Systems- Example
Solving using Mesh Analyses

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Modeling- Electric Systems- Example
Solving using State Variables Approach
It is when the Differential Equations were written in terms of ENERGY STORED
in the capacitors and inductors instead of voltage current relationship.
Select inductors currents i1 and i2 AND capacitor voltage vc.

Then, we have

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Modeling- Electric Systems- Example
Solving using State Variables Approach

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Modeling- Electric Systems- Example
Nodal Analysis

Arranging terms

Laplace Transform

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Modeling- Electric Systems- Op Amp

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Modeling- Electric Systems- Op Amp
Lag Impedance Circuit

which can be written in a general form as

note: a should be > b. to have the pole (-b)


to the right of the zero (a).

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Modeling- Electric Systems- Op Amp

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Modeling- Electric Systems- Op Amp

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Modeling- Electric Systems- Op Amp

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Modeling- Electric Systems- Op Amp
Op Amp circuits are very important in the Design Problem.
Primarily used in system compensation to improve system behavior (stability or
time response).
Example: Create the circuit

Solution: since the zero to the right of the pole, select the lead configuration.

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Translational Mechanical Components
A method of analysis for the translational mechanical systems include these
steps:

a)

Spring-mass-damper translational mechanical system at equilibrium


b) Free body diagram

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Translational Mechanical Components- Example
Equating forces for mass(es);

Collecting terms

Laplace Transform

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Translational Mechanical Components- Example
Equating forces for mass(es)

Collecting terms and Laplace Transform

The vibration damper transfer function can be expressed as

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Translational Mechanical Components- Example
State Variable Approach
Select your states variables as (x1) and (x2) as well as

The state space representation for the translational system is

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Translational Mechanical Components- Example
State Variable Approach
Select your states variables as (x1) and (x2) as well as

The state space representation for the translational system is

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Translational Mechanical Components- Example
State Variable Approach
Laplace Transform

Using Cramer's rule to solve for X1(s)

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Rotational Mechanical Components
Torque- Angle Relationship

a)

ECE16513- Summer I -2015

Rotational-Spring-Mass-Damper Systems at Equilibrium


b)
Free body diagram
c)
Gear Train

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Rotational Mechanical Components
Analysis Procedure

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Rotational Mechanical Components- Example

a)

ECE16513- Summer I -2015

Rotational Mechanical Systems


b)
Free body diagram
Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Rotational Mechanical Components- Example

Node Equivalent circuit

Mesh equivalent circuit


ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Rotational Mechanical Components- Example
Equating Torques

Collecting terms

Laplace Transform

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Rotational Mechanical Components
Nodal Analogy
Compare the mechanical equations for mass and inertial to the electrical
admittance at a node

We have,

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Rotational Mechanical Components
Nodal Analogy
Compare the mechanical equations for mass and inertial to the electrical
impedance at a node

We have,

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Rotational Mechanical Components
Gear Train and Transformers
The torque ( 1) is

The torque( 2) is

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Rotational Mechanical Components
Gear Train and Transformers
The gear relationship

Solving for ( 1) and substituting to get equation in terms of the input torque ( )

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Rotational Mechanical Components
Gear Train and Transformers
KVL for the primary and secondary side of idea transformer

Turn ratio for the transformer

Then, one KVL equation referred to the primary side

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Rotational Mechanical Components
Gear Train and Transformers
Gear-Transformer Analogy

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Electromechanical Components

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Electromechanical Components

Electrical equation for DC control motor driving an Inertia load

Mechanical equation, neglecting the damping friction B,


Laplace transform with zero IC, we get

note: this model is also good for AC control motor


ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Electromechanical Components
Motor Driving an Inertia Load via a Gear train

Electrical equation for DC control motor driving an Inertia load

Mechanical equation, neglecting the damping friction B,


where

Then,

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Electromechanical Components

The DC generator model is governed by

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Electromechanical Components

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Electromechanical Components

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Electromechanical Components

Note: The rate of change of angular momentum


of a system is equal to the applied torque

Alternatively,

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Electromechanical Components
Fundamental Gyroscope law: A torque about any axis other than the spin axis
produces a velocity about the axis that is orthogonal to the applied torque axis.

The gyro is an important instrument for measuring torques (Qx=Hwy) by


measuring this orthogonal or precession velocity.

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

Introduction to Control Systems - Foundations


Electromechanical Components

ECE16513- Summer I -2015

Mufeed MahD, ECE, UML

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