Controls

Lecture 1

Nalinaksh S. Vyas
Professor of Mechanical Engineering
Indian Ins9tute of Technology Kanpur
&
Chairman
Technology Mission for Indian Railways

 Introduction

•  Automa(c Control as a subject has acquired importance in

several branches of Engineering.
- Mechanical, Electrical, Chemical, tex(le, aerospace etc.
•  Applica(ons include power plants, engines, produc(on
machines, process plants, environmental control, consumer
goods, vehicles and transporta(on systems.
•  The earliest important applica(on was related to speed
control of steam engines using a centrifugal governor in the
second half of the eighteenth century.
The figure shows a system for speed control of a turbo-generator system, with centrifugal governer, sensing
any speed change which may occur due to say load changes.
The speed change is measured by gears and governor whose position changes with speed.
The governor operates a hydraulic amplifier to operate a control

This regulates flow to turbine and changes the speed to desired value.
Analog & Digital Control Systems
Analog
System
Digital
System
Digital Control for a Complex System
Closed Loop Control System

Open Loop Control System

Regulators and Servomechanisms

Sequence Control
Typical Block Diagram
Typical Block Diagram
Transfer Func9on

R(s) = Input C(s) = Output

B(s) = Feedback Signal E(s) = Actuating Signal

Closed Loop Transfer Function

C ( s) = G ( s) * E (s)
= G ( s ) * [ R ( s ) − B( s )]
= G ( s ) * [ R ( s ) − C ( s ) * H ( s )]

Therefore, Transfer Function

C ( s) / R( s) = G( s) /[1 + G( s) * H ( s)]
 Mass – Spring - Dashpot System as a Control System

Resis9ve force f k (t ) = kx (t )
f c (t ) = cx! (t )
Equa9on of Mo9on f (t ) − f k (t ) − f c (t ) = mx!!(t )

Taking Laplace Transform F ( s ) − F ( s ) − F ( s ) = ms 2 X ( s )

k c
1
or
X (s ) = [ F ( s ) − Fk ( s ) − Fc ( s )]
ms 2
The above equa9on can be wriPen graphically as shown below

f k (t ) = kx (t ) f c (t ) = cx! (t )
Fk ( s ) = kX ( s ) Fk ( s ) = csX ( s )

The above block diagram can be completed in the following manner
G ( s ) = 1/ ms 2 H ( s ) = k + cs

1/ ms 2
X (s ) / F (s ) =
1+ ( k + cs )(1/ ms 2 )
1
=
ms 2 + cs + k

 Mass – Spring - Dashpot System as a Control System
Simulink model

The model, as shown,

has been built for

m =5
The model was developed for k =9
a sinusoidal excita9on, with
amplitude f0 = 5 c = 0.1
GeSng Started:
1. In MATLAB window, type ‘Simulink’.
2. A Simulink Library Browser will appear on the screen.
3. Double click Simulink in the browser. Then also double click to explore various sub - categories and explore.
4. In the MATLAB window, click file, New, Model in succession.
5. From the Simulink Library Browser, click and drag desired elements into
Exercises:
Build the above model. Double click on the Scope icon. An oscilloscope will appear on the screen. In the Model window,
click Simula(on and explore.
Run the model for three sets of excita(on frequencies (sinusoidal excita(on)
(a) 2 rad/s; (b) 3 rad/s; (c) 4 rad/s.
With 2 (b) change c to 1.0 and 0.01. Note all your observa(ons.
Run the model for Square, Sawtooth, Random excita(on, by changing the Waveform in the Signal Generator.
Run the model for (i) Step Input (ii) Ramp input (Choose from Sources).