MTR3106: Automatic Control (1)

Mechanical Engineering Department

First semester 2019/2020

Lecture 1: Introduction

Dr. Shuaiby Mohamed

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 Contact Information
Lecturer:

- Dr. Shuaiby Mohamed Shuaiby Ragab

Office: 3rd Floor – Mechanical Engineering Departement
Email: shuaiby.mohamed@aun.edu.eg
Office hours: 12-2 Pm on Wednesday
Teaching Assistant:
- Eng. Mohammad Abd Elnasser

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 Material

Text books

• K. Ogata, Modern Control Engineering, 5th ed.

• R.C. Dorf and R.H. Bishop, Modern Control Systems, 12th ed.

• Norman S. Nise, Control Systems Engineering, 6th ed.

http://imtiazhussainkalwar.weebly.com/

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 Grading System

Hours per Week

Maximum Marks
Exam
Code No Course Title Prac.
Hours
Lec. Excer. Total Year Work or Final Total
Oral
MTR 3106 Automatic Control (1)
3 2 5 3 60 - 40 100

Year Work

Mid-term exam No. 1 30 %

30 %
Mid-term exam No. 2

Quizzes 20 %
Attendance 20 %
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 Ground rules
• In-class behavior rules

– Starting in time !

– 10 min break/hour !

– Interaction !

– Cell phones !

– Be patient !

– If you have any problem, contact me!

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 Goals of This Course
After studying this course, you should be able to understand the
following:

▪ System modelling using transfer function

▪ Block diagram
▪ Transient and steady-state response analyses
▪ Frequency domain analysis

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 Course plan
Lecture 1 24-9-2019 Introduction
Lecture 2 1-10-2019 Transfer Function ＆Laplace Transform ＆ Mathematical Modelling of Mechanical Systems
Lecture 3 8-10-2019 Mathematical Modelling of Electrical & Electronic Systems
Lecture 4 15-10-2019 Mathematical Modelling of Fluid Systems and Thermal Systems
Lecture 5 22-10-2019 Block Diagram Representation of Control Systems
Lecture 6 29-10-2019 Mid-term Exam 1
Lecture 7 5-11-2019 Time Domain Analysis of First Order Systems
Lecture 8 12-11-2019 Time Domain Analysis of 2nd Order Systems
Lecture 9 19-11-2019 Routh-Herwitz Stability Criterion and Steady State Error
Lecture 10 26-11-2019 Basic Control Actions
Lecture 11 3-12-2019 Design of P, PI, PD, and PID Controllers
Lecture 12 10-12-2019 Mid-Term Exam 2
Lecture 13 17-12-2019 Frequency Response Analysis (Cont.)
Lecture 14 24-12-2019 Frequency Response Analysis (Cont.)
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Lecture 15 31-12-2019 Extra Topic 7
 Today’s Lecture
Today we are going to discuss the following topics:

▪ Introduction
▪ Basic Components of a Control System
▪ Classification of Control Systems
▪ Type of Control System

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 Introduction
Control systems engineering is an exciting field in which to apply your engineering talents,
because it cuts across numerous disciplines and numerous functions within those disciplines.

The control engineer can be found at the top level of large projects, engaged at the conceptual
phase in determining or implementing overall system requirements.

These requirements include

• Total system performance specifications
• Subsystem functions
• Interconnection of these functions, including
1. Interface requirements
2. Hardware and software design
3. Test plans
4. Procedures
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 Introduction (Cont.)
What is Control System?
Control System: Mechanism that alerts the future state of a system

Control Theory: A strategy to select appropriate input

Input System Output

How do I change this What I want?

How do I change this to get what I want?

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 Introduction (Cont.)
What is Control System?

• A control system is a collection of components working together under the

direction of some machine intelligence(an integral part of modern society)

• A system that can regulate itself and another system

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 Introduction (Cont.)
Control system applications
• Space shuttle lifts off

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 Introduction (Cont.)
Control system applications
• A self-guided vehicle

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 Introduction (Cont.)

Reasons for using automatic control

• Power amplification
• Remote control
• Reduce workload
• Perform tasks people can’t
• Reduce the effects of disturbances
• Reduce the effects of plant variations
• Stabilize an unstable system
• Improve the performance of a system (time response)
• Improve the linearity of the system

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 Introduction (Cont.)

Reasons for using automatic control

https://www.youtube.com/watch?v=jHnxQ7k4Wtc
Decontaminating Robot
Cleaning the main circulating pump housing in the nuclear power plant
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 Introduction (Cont.)

Reasons for using automatic control

The system must be able to yield the correct output even with a disturbance.

Antenna system
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 Basic Components of a Control System

Manipulated Variable
Control signal
Disturbance
Input
or
Set point Controller Actuator Process Output
or Or
Reference Controlled Variable

Sensors
Measurement

Sensor noise
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 Definitions

System – A system is a combination of components that act together and perform a certain objective.

Control System – A system that may include electronic and mechanical components, where some
type of machine intelligence controls a physical process.

Process – The plant, or system under control. The input and output relationship represents the cause-
and-effect relationship of the process.

Input Process Output

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 Definitions (Cont.)
Controlled Variable– It is the quantity or condition that is measured and Controlled. Normally
controlled variable is the output of the control system.

Manipulated Variable– It is the quantity of the condition that is varied by the controller so as to affect
the value of controlled variable.

Disturbances– A disturbance is a signal that tends to adversely affect the value of the system. It is an
unwanted input of the system.
• If a disturbance is generated within the system, it is called internal disturbance. While an
external disturbance is generated outside the system.

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 Classification of Control Systems
Control Systems

Natural Man-made

Manual Automatic

Open-loop Closed-loop

Non-linear linear
Non-linear linear

Time variant Time invariant

Time variant Time invariant
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 Type of Control System
• Natural Control System

Human Body

• Consider how the human body regulates temperature. If the body needs to heat
itself, food calories are converted to produce heat
• Our eyes follow a moving object to keep it in view
• Our hands grasp the object and place it precisely at a predetermined location.

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 Type of Control System(Cont.)

• Man-made Control System

http://ise.me.tut.ac.jp/index-e.html

Chemical Process
Aeroplanes
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 Type of Control System(Cont.)

• Manual Control Systems

Water Level Control

Room Temperature regulation Via Electric Fan

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 Type of Control System(Cont.)

• Automatic Control System

Room Temperature regulation

Via Air Conditioner Home Water Heating Systems (Geysers)

Water-level float regulator

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 Type of Control System(Cont.)
Open-Loop Control Systems
Open-Loop Control Systems utilize a controller or control actuator to
obtain the desired response.
• Output has no effect on the control action.
• In other words output is neither measured nor feedback.

Input
Controller Actuator Process Output

Open-loop control system (without feedback)

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 Type of Control System(Cont.)
Open-Loop Control Systems

Electric Fan

Washing Machine

microwave oven
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 Type of Control System(Cont.)
Open-Loop Control Systems
The major advantages of open-loop control systems are as follows:
1. Simple construction and ease of maintenance.
2. Less expensive than a corresponding closed-loop system.
3. There is no stability problem.
4. Convenient when output is hard to measure or measuring the output precisely is
economically not feasible. (For example, in the washer system, it would be quite expensive to provide a device
to measure the quality of the washer’s output, cleanliness of the clothes.)
The major disadvantages of open-loop control systems are as follows:
1. Disturbances and changes in calibration cause errors, and the output may be different from what is desired.
2. To maintain the required quality in the output, recalibration is necessary from time to time .

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 Type of Control System(Cont.)
Closed-Loop Control Systems
• A system that maintains a prescribed relationship between the output and some reference input by
comparing them and using the difference (i.e. error) as a means of control is called a feedback control
system.

• Feedback can be positive or negative.

error
Output
Input + Controller Process
-

Feedback

Closed-loop feedback control system (with feedback)

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 Type of Control System(Cont.)
Closed-Loop Control Systems

Examples:- Refrigerator, Electric Iron.

Air conditioner

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 Type of Control System(Cont.)
Closed-Loop Control Systems
Advantages of closed-loop control systems

• Improved rejection of the disturbances.

• Improved measurement noise attenuation
• Improved reduction of the steady-state error of the system
• Easy control and adjustment of the transient response of the system.

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 Type of Control System(Cont.)
Multivariable Control System
Examples: Control of a Mixing Tank
Hot
Cold

LT

TT

MV’s: Flow of Hot Stream CV’s: Level in the tank

Flow of Cold Stream Temperature in the tank
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 Type of Control System(Cont.)
Servo System (Dynamic position control systems)
• A Servo System or (servomechanism) is a feedback control system in which the output is
some mechanical position, velocity or acceleration.
• Used in machine tools, industrial processes, robots, cars, and office machines

Antenna Positioning System Modular Servo System (MS150)

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 Simulation With MATLAB

▪ Computer simulation is a vital part of this course

▪ MATLAB simulations will allow you to better understand and absorb the
course material

▪ The study can be made more interesting and challenging by introducing the
simulation technology into course teaching

▪ By applying MATLAB language and Simulink simulation tools, the system

synthesis design problem in Automatic control course can be dealt with very
easy.

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 Simulation With Other Software

▪ Learning other software such as LabVIEW is also recommended

▪ Bonus marks will be given for using simulation packages

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 How to Become a Good Control Engineer

▪ Attend all lectures and tutorial sessions

▪ Read the matrial in text books
▪ Study solved examples in text books and any other sources
▪ Implement conecpts on simulations and think about the system response
▪ Discussions with your colleagues and working in groups are very useful
▪ Ask for clarifications when you find something difficult to understand
▪ Apply what you learn on projects

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 End of Lecture 01
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