Control Engineering

Control Engineering
Uwe Jassmann
Institute of Automatic Control

RWTH Aachen University
Germany
Lecture 1
General Information
Lecturer and Structure
Lecturer
Uwe Jassmann
Chief Engineer
Responsible for research groups “Energy” and “Medical”
u.jassmann@irt.rwth-aachen.de
0241/ 80 28033
Structure
• 2 hrs lecture per week: Friday 12:15 – 13:45
• 2 hrs excercise per week Friday 14:00 – 15:30
• 1 hr excercise on your own
• 1 hr presentation of the solution
Questions?
• Contact me via e-mail and set up an appointment
3
Semester Schedule
Date Lecture Excercise Room Topic

 
1 13.10 AH IV Introduction / Static Behavior
 
2 20.10 AH IV Differential Equations I
 
3 27.10 AH IV Differential Equations II
 
4 3.11 AH IV Laplace Transformaton
 
5 10.11 AH IV Fourier Transformation
 
6 17.11 AH IV Linear Control Loop Elements
  Simple Control Elements &
7 24.11 AH III
Tuning
 
8 1.12 AH III Stability I
 
9 8.12 AH IV Stability II
 
10 15.12 AH IV Multiloop Systems
 
11 22.12 AH IV State Space I
 
12 12.1 AH IV State Space II
 
13 19.1 AH IV Linear Sampling Control
 
14 26.1 AH IV Nonlinear Elements in Control
 
15 2.2 AH IV
4
Lecture 1
General Idea of Control

Institute of Automatic Control
6
Ex. of Automatic Control Systems (1/2)
Gas Turbine Automotive

Speed Control Velocity Control
(Reference: 50 Hz at „Cruise Control“
Generator)
Quelle: Siemens-Pressebild
Quelle: Siemens VDO
Machine Tool
Positioning
Heating/Cooling
Temperature Control
(Keep Reference
Temperature)
Quelle: NPW
7
Ex. of Automatic Control Systems (2/2)
Automotive Process
Distance Control Automation
(Adaptive Cruise Assembly of
Control) Components
Medical Engineering
Lung Ventilator
8
What is a system?
Input System Output
• A system (model) is a description of the relation between inputs and outputs

• Important: also define the boundaries
• Common language of control engineers
9
Identification of in- and outputs
Gas Turbine Automotive Machine Tool Heating/

Cooling
Output Value Speed Turbine Velocity Position of Room Temperature

Machine Tool
Input Value Position of the Gas Pedal Position Engine Voltage Heating Valve
steam valve Valve Cooling
Circuit
Outdoor
Temperature
Heat Losses wall /
Window
10
Purpose of Control
Why do we need (automatic) control?
Make a system „behave as required“
E.g follow reference value of car velocity without interaction of the driver (Cruise
Control)
Automotive
Velocity Control
„Cruise Control“
Quelle: Siemens VDO
11
Feedforward Control
Disturbance z
Variable
y x
Plant
Manipulated Controlled Variable
Variable
12
Feedforward Control
Input Values
Disturbance z Output Values

Variable
y x
Plant
Variable
13
Feedforward Control
Input Values
Disturbance z Output Values

Variable
y x
Plant
Variable
Steepness z
Of Street
y x
Plant
Gas Pedal Velocity
Position
14
Feedforward Control
Steepness z
Of Street
w Feed Forward y x
Plant
Control
Desired Gas Pedal Velocity
Velocity Position
15
Feedforward Control
Steepness z
Of Street
w Feed Forward y x
Plant
Control
Desired Gas Pedal Velocity
Velocity Position
 Open Loop Impact – no feedback

 Preservation of stability
 Easy to Implement
 Compensation of disturbances is complex
 If model inaccuracies are present, the employment of certain output
values can be tough
 Instable system cannot be stabilized
16
Feedback Control
Disturbance z
Value
Control Error
w e Feedback y x
Plant
Control
Reference _ Manipulated Controlled
Value Value Value
Feedback Control Loop
 Controlled Value is fed back to the actuated value (feedback control loop)
 Model inaccuracies are compensated for (Reference Tracking)
 Not measurable disturbances are compensated by control (Disturbance
Rejection)
 Instable systems can be stabilized
 Stable systems can made instable by bad controller tuning
 Stability analysis has to be performed for closed-loop control loop
17
Chapter I
Introduction
1.1 Measurement, open and closed loop control
Measurement, open and closed loop control
Z1 Z1
X X
W R
W
Z2 Y Z2
X : Room temperature Z1 : Outside temperature

W : Set temperature Z2 : Window position
R : Controller Y : Valve position
2
Schematic illustration of room temperature control
z2
WINDOW OPENING ROOM TEMPERATURE
z1
OUTSIDE TEMPERATURE ROOM TEMPERATURE
-
+ x
VALVE POSITION ROOM TEMPERATURE +
-
y e - w
VALVE POSITION DEVIATION
3
z2
z1
-
+ x
-
y e - w
• Analysis of causal relationships, independent of physical realisation
3
z2
z1
-
+ x
-
y e - w
• Analysis of causal relationships, independent of physical realisation

• Characteristic of closed loop control:
– Feedback of control deviation e = x − w on manipulated variable y
– Feedback results in closed control loop
– Certain sign of feedback advised depending on controlled system
3
Open loop room temperature control
Z1 X
Z2
S
Y
Target of Open loop control:
• Compensation of unwanted influence of Z1 on X
4
Schematic illustration of open loop room temperature control
z2
z1
OUTSIDE TEMPERATURE VALVE POSITION
y -
- + x
VALVE POSITION ROOM TEMPERATURE
+
5
Schematic illustration of open loop room temperature control
z2
z1
OUTSIDE TEMPERATURE VALVE POSITION
y -
- + x
VALVE POSITION ROOM TEMPERATURE
+
Disadvantages / Problems of an Open Control Loop:
• Functional dependency of x on z1 must be known and comprehended

• Unwanted influence of z2 on x remains
5
Rotational speed control
W
R
Y
X : Rotational speed
Z1 W : Rotational speed setpoint
Y : Position of steam valve
Z1 : Supply steam pressure
X Z2 : Load torque
Turbine
Z2
6
Schematic presentation of speed control
z1
STEAM PRESSURE SPEED
z2
LOAD TORQUE SPEED
- x
VALVE POSITION SPEED
y
-
e - w
7
z1
z2
LOAD TORQUE SPEED
- x
y
-
e - w
• Further features of closed loop control:

– Compensation of disturbances (possibly not completely)
– Universally applicable theorie
7
z1
z2
LOAD TORQUE SPEED
- x
y
-
e - w
• Further features of closed loop control:

– Compensation of disturbances (possibly not completely)
– Universally applicable theorie
• Examples for control tasks:
– Heading, height and attitude control of airplanes
– Machine tools (Pos.)
– Robots (trajectory)
– Chemical Engineering 7
Solving technical problems with models
Modelling
Process
Process
Model
Controller
design
Controller Controller
Model
Back transfer
Reality Model
8
1.2 Basic control loop structure
Typical elements of a control loop
z Controlled system x
Disturbance process
Controlled
variable -
variable
y Control loop
Manipulated
variable Reference
e - w variable
Controller
Deviation
9
1.3 Functional diagram
Functional diagram of a course steered by a ship
.
α β m α α
m
m : Torque, β : Rudder angle, α : Yaw angle
• Schematic diagram of interaction including Dynamics (according to DIN 19226)

• Drawing procedure: backwards
10
Functional diagram elements
11
12
Guideline for creation of action diagrams:

1. Clarification of input and output variables
(Controlled system, controller, control loop,...)
2. Division into subsystems
(Structure, sign, dynamics)
3. Transfer behaviour of the subsystems
(Establishment of differential equations)
• Find direct causal relationships

• Proceeding: backwards
13
Single-mass oscillator
f
y
C B
M ÿ + B ẏ + Cy = f (1.1)
1
ÿ = (−B ẏ − Cy + f ) (1.2)
M
14
Functional diagram for differential equation (1.1)/(1.2)
1/M 1 1
..
.
f Σf y y y
15
Functional diagram for differential equation (1.3)
ÿ + 2Dω0 ẏ + ω02 y = Kω02 f (1.3)
K, D, ω0 K = 1/C
f y B/M
D= q
2 C/M
q
ω0 = C/M
K : Transfer coefficient
D : Damping ratio
ω 0 : Characteristic angular frequency
16
Chapter II
Static behaviour
2.1 Static behaviour of transfer elements
Valve with adjustable cross-section
Static behaviour: after decay of transient and settling processes
Pe Pa Q
18
Pe Pa Q
General formula describing a static behaviour
Y = f (U, Z1 , Z2 , . . .) (2.1)
18
Pe Pa Q
General formula describing a static behaviour
Y = f (U, Z1 , Z2 , . . .) (2.1)
Example: Bernoulli equation (ρ = const.)

p
Q=K ·F · Pe − Pa (2.2)
18
2.2 Linearization, deviation variables
Set of characteristic curves of a valve

√
Q = f (F, P ) = K · F · P with P = Pe − Pa
7
kg
Q 30
s
5 cm 2 F
4 20
2 10
0
0 1 2 3 4 bar 5
P
19
Deviation variables (lower case letters) from defined operating point
y = Y − Y0 , u = U − U0 , z1 = Z1 − Z10 , z2 = Z2 − Z20 , . . . (2.3)
20
Deviation variables (lower case letters) from defined operating point
y = Y − Y0 , u = U − U0 , z1 = Z1 − Z10 , z2 = Z2 − Z20 , . . . (2.3)
Standardized deviation variables (if necessary)
Y − Y0 y u
ỹ = = , ũ = (2.4)
Y0 Y0 U0
20
Linearization
Given non-linear relationship
Y = f (U, Z1 , Z2 , . . .) (2.1)
in vicinity of operating point A
Y = Y0 , U = U0 , Z1 = Z10 , Z2 = Z20 , ... (2.5)
leads to linear expression in deviation variables (at operating point A)
y = Ku · u + K1 · z1 + K2 · z2 + . . . (2.6)
Coefficients are derived by Taylor series expansion

∂Y ∂Y ∂Y
y= u+ z1 + z2 + . . . (2.7)
∂U A ∂Z1 A ∂Z2 A
comparing coefficients

∂Y ∂Y ∂Y
Ku = , K1 = , K2 = , ... (2.8)
∂U A ∂Z1 A ∂Z2 A
21
Example
Z2
nonlinear : Y =
+ B, B = const. (2.9)
U
linear : y = Ku u + Kz z
Linearization

∂Y ∂Y
y = u+ z
∂U A ∂Z A
Z2

2Z
= − 2 u+ z
U Z=Z0 , U Z=Z0 ,
U =U0 U =U0
Z2 2Z0
y = − 02 u + z (2.10)
U0 U0
| {z } |{z}
Ku Kz
22
Important: Operating point values in partial derivatives
Linearization of a characteristic curve
Y = f(U )
Y y
y= K u
A
Y0
u
0
0 U0 U

∂Y
y= u=K ·u (2.11)
∂U A

∂Y
K= , (2.12)
∂U A
23
Linearization of a set of characteristic curves

given by set of characteristic curves
y = f (U, Z)
Target: Linear Relationship
y = Ku · u + Kz · z (2.13)
1 Z
Y 2 Y
3 ^ Z0
4
U = U0
5
∆Yz Y ∆ Yu ∆ Yz
0 A A
∆U ∆Z
0 0
0 U0 0 1 2 3 4 5 6
U
Z
24
• Construction of tangent

∂Y ∆Yu
Ku = = (2.14)
∂U A ∆U Z=Z0
25

∂Y ∆Yu
Ku = = (2.14)
∂U A ∆U Z=Z0
• Construction of secant

∂Y ∼ ∆Yz
Kz = = (2.15)
∂Z A ∆Z U =U0
25

∂Y ∆Yu
Ku = = (2.14)
∂U A ∆U Z=Z0
• Construction of secant

∂Y ∼ ∆Yz
Kz = = (2.15)
∂Z A ∆Z U =U0
Substituting corresponding values
Y (U0 ,Z = 4) − Y (U0 ,Z = 2) Y (U0 ,Z = 2) − Y (U0 ,Z = 4)

Kz ∼
= = (2.16)
(Z = 4) − (Z = 2) (Z = 2) − (Z = 4)
25
• Example of non-explicit descriptions of Y = f (U, Z1 , Z2 , . . .) (given graphically

of analytically)
U = f (Y,Z1 ,Z2 , . . .) (2.17)
0 = f (Y,U,Z1 ,Z2 , . . .) (2.18)
Y = f (Y,U,Z1 ,Z2 , . . .) (2.19)
• Example of intermediate variable H , which has to be eliminated

Y = f (H,U, . . .)
H = f (Y,U, . . .) (2.20)
0 = f (H,Y,U, . . .)
H = g(U,Z, . . .)
U = g(H,Z, . . .) (2.21)
0 = g(H,U,Z, . . .)
26
1. Determine operating point values for all variables

2. Linearize every given non-linear relationship (equation or set of characteristic
curves) at the given operating point
3. Insert equations, eliminate intermediate variables, and transform linear
equations into desired form, e.g.:
y = Ku · u + K1 · z1 + K2 · z2 + . . . (2.6)
27
Example for non-linear system of equations
System of equations
H = f (Y,U )
0 = g(U,Z,H) (2.22)
Linearization
∂f (Y,U ) ∂f (Y,U )
h= y+ u
∂Y A ∂U A (2.23)
| {z } | {z }
= a1 ·y+ a2 ·u

∂g(U,Z,H) ∂g(U,Z,H) ∂g(U,Z,H)
0= u+ z+ h
∂U A ∂Z A ∂H A (2.24)
| {z } | {z } | {z }
= b1 ·u+ b2 ·z+ b3 ·h
28
Eliminate intermediate variable h
0 = b1 · u + b2 · z + b3 a1 · y + b3 a2 · u (2.25)
Solve for y
b1 + b3 a2 b2
y=− ·u− ·z (2.26)
b3 a1 b3 a1
29
2.3 Static behaviour of control loops
Block symbols for controllers
KR KI
x y x y
P -controller I-controller
• P-Controller (proportional controller)

y = KR · x (2.27)
static state: y∞ = KR · x∞
• I-Controller (integrating controller)
Z t
y = KI · x(τ )dτ (2.28)
0
ẏ = KI · x (2.29)
static state: x∞ = 0 → y∞ = konst.
30
Control loop with non-linear controlled system
Z
X
Y S
y x − X 0 =W
R
Y0
S: non-linear stat. controlled system X = f (Y,Z) (c.f. next slide)


1 without controller

R: 3 considered cases 2 with P-controller

3 with I-controller

31
Characteristic curves of controlled system
Here: Controlled system with negative transfer behaviour for input y

32
Characteristic curves of controlled system and controller
X 1 without controller
controller's characteristic curve

slope: 1
∆ XoR KR
2
∆XmR P -controller
3 I -controller
X0
1 Z
2
3
4
0
0 Y0 YP YI Y
Here: Controlled system with negative transfer behaviour for input y

33
Equation of P-Controller in deviation variables
y = KR · x (2.30)
in absolute variables
Y − Y0 = KR · (X − X0 ) (2.31)
solved for X
1
X = X0 + (Y − Y0 ) (2.32)
KR
⇒ Straight line through (Y0 , X0 ) with slope 1/KR
34
Control factor
Control factor (for P-Controller)
∆XmR
R= (2.33)
∆XoR
35
Control factor
∆XmR
R= (2.33)
∆XoR
Reasonable control for Control factor of R < 1.
35
Control factor
∆XmR
R= (2.33)
∆XoR
Reasonable control for Control factor of R < 1.
Static behaviour of closed control loop (for proportional controlled system):

• P-Controller: remaining control deviation, but fast
• I-Controller: no remaining control deviation, but slow
35
Controller with negative transfer behaviour
Z
X
S
y - x - X0 = W
R
Y0
S: non-linear controlled system X = f (Y,Z)

with positiv transfer behaviour for input y (c.f. next slide)
36
Characteristic curves of controlled system and P controller with different
gains KR
Z
1
controller's characteristic curve
X 1 2
slope: -
KR
∆ XoR
∆ XmR 4
X0 KR→∞
KR<0 KR=KR2 >KR1

KR=0 KR=KR1>0
0
0 Y0 Y
Here: Controlled system with positive transfer behaviour for input y , i.e.
monotonously increasing characteristic curves
37
Linear control loop
∆XmR ∞
R= (2.33)
∆XoR ∞
x = −Ky · y + Kz · z (2.34)
y = KR · x (2.35)
Kz
Ky Ky
z x
-
y
KR
38
Control deviation without controller (y = 0)
xoR = Kz · z (2.36)
Controlled system
xmR = −Ky · ymR + Kz · z (2.37)
Controller
ymR = KR · xmR (2.38)
eliminate ymR
xmR = −Ky · KR · xmR + Kz · z (2.39)
Control deviation with controller
Kz
xmR = ·z (2.40)
1 + Ky · KR
39
∆XmR xmR Kz 1
R = = = ·z· (2.41)
∆XoR xoR 1 + Ky · KR Kz · z
1
R = (2.42)
1 + Ky · KR
Control factor in linear case:

• Independent of operating point
• Independent of disturbance z
Control factor R decreases with increasing KR (KR · Ky , resp.)

theoretic limit R → 0
40
Generator with voltage control, process diagram and characteristic curves

n=const.
140 IA
0
20
U
IA V 1 40
U
3 A
Ie U0 60
100
0
4
electr. UR= U - U0
controller 80
5 2
1.0
60
A Ie
0.6 40
20
0.2
0
-10 -5 0 5 V 10 0 0.2 0.4 0.6 0.8 1.0 A 1.4
UR Ie
without controller: U1 = 115V U2 = 76V

with controller: U3 = 104V U4 = 93V
for linearization: U5 = 77V
41
Control Factor for non-linear system

Control factor from set of characteristic curves
U3 − U4 104V − 93V
R= = = 0,28 (2.43)
U1 − U2 115V − 76V
Control Factor for linearized system

Linerization of U = f (Ie , Ia )
u = Ky · ie + Kz · iA (2.44)
Construction of tangent
U0 − U5 100V − 77V V
Ky = = = 38,3 (2.45)
Ie0 − Ie5 0,6A − 0A A
42
Control low („-“ because of positive behaviour of controlled system)
ie = −KR · u (2.46)
Slope triangle
∆Ie −0,6A A
KR = − =− = 0,06 (2.47)
∆U 10V V
Inserting Ky , KR into equation of control factor
1 1
R= = = 0,30 (2.48)
1 + Ky · KR 1 + 38,3 V A
A · 0,06 V
43
2.4 Range of the manipulated and range of controlled
variable
Characteristic curve of a proportionally acting control device
Y
Y2
Range of
manipulated Yh
variable
Y1
a
Xh
X
X1 Range of X2
controlled variable
44
2.4 Range of the manipulated and range of controlled
variable
Proportional Band
Definition
a
XP = · 100% (2.49)
Xh
with
Yh
KR = (2.50)
a
this leads to
Yh 1
XP = · 100% = · const. (2.51)
Xh · KR KR
usual range: 1% ≤ XP ≤ 500%

45

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Control Engineering

Institute of Automatic Control

Date Lecture Excercise Room Topic

General Idea of Control

Gas Turbine Automotive

Quelle: Siemens VDO

Input System Output

• A system (model) is a description of the relation between inputs and outputs

Gas Turbine Automotive Machine Tool Heating/

Output Value Speed Turbine Velocity Position of Room Temperature

Why do we need (automatic) control?

Make a system „behave as required“

Quelle: Siemens VDO

Disturbance z Output Values

Disturbance z Output Values

 Open Loop Impact – no feedback

Measurement, open and closed loop control

X : Room temperature Z1 : Outside temperature

Schematic illustration of room temperature control

Schematic illustration of room temperature control

• Analysis of causal relationships, independent of physical realisation

Schematic illustration of room temperature control

• Analysis of causal relationships, independent of physical realisation

Open loop room temperature control

Target of Open loop control:

• Compensation of unwanted influence of Z1 on X

Schematic illustration of open loop room temperature control

OUTSIDE TEMPERATURE VALVE POSITION

Schematic illustration of open loop room temperature control

OUTSIDE TEMPERATURE VALVE POSITION

Disadvantages / Problems of an Open Control Loop:

• Functional dependency of x on z1 must be known and comprehended

Rotational speed control

Schematic presentation of speed control

Schematic presentation of speed control

• Further features of closed loop control:

Schematic presentation of speed control

• Further features of closed loop control:

Solving technical problems with models

Typical elements of a control loop

Functional diagram of a course steered by a ship

m : Torque, β : Rudder angle, α : Yaw angle

• Schematic diagram of interaction including Dynamics (according to DIN 19226)

Functional diagram elements

Guideline for creation of action diagrams:

• Find direct causal relationships

Functional diagram for differential equation (1.1)/(1.2)

Functional diagram for differential equation (1.3)

ÿ + 2Dω0 ẏ + ω02 y = Kω02 f (1.3)

Valve with adjustable cross-section

Static behaviour: after decay of transient and settling processes

Valve with adjustable cross-section

Static behaviour: after decay of transient and settling processes

General formula describing a static behaviour

Valve with adjustable cross-section

Static behaviour: after decay of transient and settling processes

General formula describing a static behaviour

Example: Bernoulli equation (ρ = const.)

Set of characteristic curves of a valve

Deviation variables (lower case letters) from defined operating point

y = Y − Y0 , u = U − U0 , z1 = Z1 − Z10 , z2 = Z2 − Z20 , . . . (2.3)

Deviation variables (lower case letters) from defined operating point

y = Y − Y0 , u = U − U0 , z1 = Z1 − Z10 , z2 = Z2 − Z20 , . . . (2.3)

Standardized deviation variables (if necessary)