Ky Thuat Dieu Khien Tu Dong Chuong 1 - English PDF

National University Ho Chi Minh City
Ho Chi Minh city University of Technology

Faculty of Mechanical Engineering
Department of Mechatronics Engineering
Subject:
Control System Technology
Definitions & Fundamental Principles
PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

Contents
▪ Introduction
▪ Fundamental definitions
▪ Control system
▪ Rules of control
▪ Categories of control system

Introduction
Contact Address
► Office:
▪ Department of Mechatronics Engineering
• Faculty of Mechanical Engineering
▪ Ho Chi Minh city University of Technology
▪ 268 Ly Thuong Kiet, District 10
► Lecturer: PhD. Ngô Hà Quang Thịnh

▪ Mobile: 0961382007
▪ Mail: nhqthinh@hcmut.edu.vn

Purpose & Content
● This subject provides the basic knowledge of control system
technology including terms, definitions, operating principles for
students to analyze and choose each component or overall system in
reality
● Summary:
o Definitions, operating principles
o Transfer function and Laplace transform
o Signal processing
o Sensor
o Actuator
o Process control
Reference
● Robert N. Bateson, Introduction to Control System Technology, 7th

Edition, Prentice Hall, 2002
● Curtis D. Johnson, Process Control Instrumentation Technology, 7th
Edition, Prentice Hall, 2003
● Christopher T. Kilian, Modern Control Technology: Components
and Systems, 2nd Edition, Delmar Thomson Learning, 2001

Study Guide & Evaluation
● Document will be uploaded in BKEL weekly. Student must download,
print out and bring together when coming class
● Final score is evaluated during this subject
● Homework (Individual, group)
● Lab experiment
● Process (Group exercise, study hard)
● Final exam

Details
● Chapter I: Definitions and Fundamental Principles

● Chapter II: General Characteristics of Elements
● Chapter III: Laplace Transform & Transfer Function
● Chapter IV: Signal Processing
● Chapter V: Sensors
● Chapter VI: Actuators
● Chapter VII: Process Control
● Chapter VIII: Analysis of Control System

Basic Definitions
Introduction
Control system is a group of elements that connected together to maintain a
desired result by impacting on value of any variable in system.
Denis Papin’s water float regulator Wall’s fly-ball governor

Block Diagram & Transfer Function
Block Diagram
Each element in system receives an input signal from several components of

control system and performs an output signal to put into other elements


Transfer Function
- is a mathematical relationship between input signal and y(t)

output signal of element: TF 
x(t)

Control System
Control System
Whereas:
r(t): input signal, (reference input), set-point value
y(t): output signal, control variable / quantity, real value
yht(t): feed-back signal
e(t): error signal
u(t): control signal
z(t): disturbance signal

Control System
Consider the above control system:

-Target control is water tank
-Purpose is to keep stable water level in tank and equal to H0 even though the
quantity of water fluctuates randomly

Open Loop Control System
Open loop control system is a system whereas the control signal is
independent on any signal from process.

Example: position control of antenna
- Initial position: 00
- Desired position: 300
- Motor: 10/second (rated voltage)
In order to execute a desired motion, the controller output a pulse signal during
30 seconds.
If motor works correctly, position of antenna is stopped at 30 0 precisely.

Example: consider an open loop control system
Determine speed of mass m if motor is provided by 12 V:
Velocity = 0.05 * 0.5 * 100 * 12 = 30 m/min

Closed Loop Control System
Closed loop control system is a system whereas the control signal is depend on
the difference between desired signal and feed-back signal.
Three main actions of closed loop control system: measurement, making-

decision and impact

• Set point, controlled variable, measured variable, and error point.
• Process: represents a physical process that is affected by actuators

• Sensor: done by real value of controlled

variable, transform to an usable quantity
and feed-back to controller.
• Controller (including sum unit): execute
the suitable control method to decrease
the error value.
• Actuator: transform the control signal to
acting signal.

Example: position control of antenna
- Initial position: 00
- Desired position: 300 ( xd)
- Motor: 10 /sec (rated voltage vs)
- Angular sensor: 10V / 3600
( xa)

The control signal vc is determined that
depend on the control rule:
vs xa  xd
vc = if
0 xa  xd
vc = C(xd xa)
The position of antenna is controlled more precise despite of the stability of

motor and the accuracy of mechanical actuator.

Example: consider the block diagram of closed loop control system to control
position of actuators
Examine the movement of table if it moves from 0.4 m (initial position) to right
side at 0.64 m. Assume that sampling time (feed-back) is 0.1 second.

G1 = 2 G1 = 2.5
T (s) Vi (V) Vf (V) Ve (V) P (mm) Pos (mm) T (s) Vi (V) Vf (V) Ve (V) P (mm) Pos (mm)
2.5 2.5 0 0 400 2.5 2.5 0 0 400
0.0 4 2.5 1.5 0 400 0.0 4 2.5 1.5 0 400
0.1 4 2.5 1.5 2.250 402.250 0.1 4 2.5 1.5 2.813 402.813
0.2 4 2.514 1.486 2.229 404.479 0.2 4 2.518 1.482 2.779 405.592
0.3 4 2.528 1.472 2.208 406.687 0.3 4 2.535 1.465 2.747 408.339
0.4 4 2.542 1.458 2.187 408.874 0.4 4 2.552 1.448 2.715 411.054
0.5 4 2.555 1.445 2.167 411.041 0.5 4 2.569 1.431 2.683 413.737
: : : : : : : : : : : :
60.0 4 3.995 0.005 0.008 639.157 48.0 4 3.995 0.005 0.01 639.163

Open Loop vs Closed Loop
Open loop control system Closed loop control system

- Simple and low investment - Complex and high
fee investment fee
- Can not control real value - Can control real value
- Can be applied in case that - The real value is always
the operating characteristics stable in despite of the
of actuators and process is operating characteristics of
rather stable actuators and process
- The calibrated process - Sometimes sensor is only
must be often completed needed to check

Control Rules
Compensating Disturbance Control
This system is able to compensate the error before the disturbance actually
affect on output signal. It is applied if:
-The characteristics of target control is determined completely
-The external disturbance affecting on target control is checkable and
measurable.
-The controller uses measured signal of disturbance to calculate the control
signal u(t)

Reducing Error Control
This system is able to reject the effect of disturbance that is unknown or un-
measurable. It is applied if:
-The characteristics of target control is not determined completely
-The external disturbance affecting on target control is not checkable and
measurable.
-The controller uses error signal between input and output signal to compute
the control signal u(t), adjusting signal to reduce the error

Combination Control
In order to enhance the quality of control, it is possible to combine between

compensating disturbance scheme and reducing error scheme.
-The compensating disturbance scheme is used to compensate the error from
measured disturbance.
-The reducing error scheme adjusts the error from un-measured disturbance

Adaptive Control
It is applied if:
-The target control is complex, system parameters are sensitive to fluctuate
under environmental effect
-Multi targets are not only controlled simultaneously, but also guarantee to
satisfy the requirements

Linear & Non-linear
When analyzing and designing, most of control systems are assumed that it
consists of linear elements – the element carries out output signal in proportion
to input signal.
Linear element preserves the geometrical type of input signal

Linear & Non-linear
• Dead band: is a band of values that the input signal X does not make a
change in output signal Y.
Linear element with a dead band nonlinearity

Linear & Non-linear
• Delay: is a nonlinear characteristics that leads to the un-matching values of
output signal Y whenever input signal X increases or decreases.
Nonlinear element with hysteresis

Linear & Non-linear
• Saturation: is a limited array of output signal Y.
Linear element with a saturation nonlinearity

Damping System & Stability
The amplifier gain of controller determines an important performance of
automation system, this is damping type – un-stable type. This characteristics
of system performs as a response under the effect of disturbance signal.

Purpose of Control System
Whenever the change of load or system parameters exist, the control system
must guarantee 3 purposes as following:
• Lessen maximum error.
• Lessen settling time.
• Lessen steady state error.

Criterion to Evaluate
The evaluated method is often used to modifying the adjusted values due to
step function.
• Decline of quarter of amplitude: determine the amplitude of oscillation that the

amplitude of positive peak equals to a quarter of amplitude of previous positive
peak.

• Minimum integral error: the summing area of error must be minimum.

• Damping threshold: is used if it is desired not to exist the overshoot.

Simplified Block Diagram
Open-loop system:
Closed-loop system:

Categories of Control System
Classify The Control System
There are various control system, it depends on target control, method of control,
condition of usage …
➢ Feed-back scheme
• Not use  open-loop system
• Use  closed-loop system
➢ Signal type
• Continuous  analog system
• Discrete  digital system
➢ Adjusted value
• Less change  Regulator system
• More change  Follow-up system
➢ Location of controller
• At control center room  centralized control system
• Near sensors and actuators  distributed control system

Classify The Control System
➢ Industrial environment
• Handling, processing  process control system
▪ continuous process
▪ discrete process
• Separated component  manufacturing control system
▪ outsourcing - digital control
▪ assembly - robot manipulator control system
➢ Others
• Servo mechanism
• Sequence control
▪ In event
▪ In time
• Programmable controller

Digital & Analog Controller

Digital & Analog Controller
Analog controller
- is designed by analog signal processing circuit
- signal is updated continuously
Digital controller
- is designed by digital signal processing circuit
- signal is updated into pulse

Process Control System
The process control system maintains the quantity of process at adjusted value (desired).


Individual local controllers
Direct computer control system
Distributed control system

Sequence Control System
Time-driven operation Event-driven operation
The sequence control system executes the series of actions that are determined in
advanced
Servo Mechanism
Servo mechanism is a feedback control system whereas the controlled target is position
(or motion).

Digital Control System
The digital control system is a system that uses the pre-determined commands to
complete the mission.

Robot Manipulator
Pick-and-place robot

Robot Manipulator
Industrial robot

Robot Manipulator
Manufacturing cell
is a combination between a group

of manufacturing machine and
group of robot manipulator to
enhance the effective manufacture
of industrial products

Examples
Bộ điều tốc ly tâm
Bánh răng
Con lắc ly tâm
Xy lanh
Dầu ép truyền
lực
Van điều khiển
Động cơ Tải
Nhiên liệu
Van nhiên liệu

Examples
Tín hiệu đặt
Hệ thống điều
khiển tốc độ
(bằng điện)
Tải
Động cơ Tachometer

Examples
Hệ thống điều khiển máy trộn
Chất B
Van
Chất A
Bộ điều
khiển
Chất C
Bộ đo nồng độ

Examples
Hệ thống điều khiển nhiệt độ

The End
61

Ky Thuat Dieu Khien Tu Dong Chuong 1 - English PDF

Încărcat de

Informații document

Titlu original

Drepturi de autor

Formate disponibile

Partajați acest document

Partajați sau inserați document

Opțiuni de partajare

Vi se pare util acest document?

Este necorespunzător acest conținut?

Drepturi de autor:

Formate disponibile

Ky Thuat Dieu Khien Tu Dong Chuong 1 - English PDF

Încărcat de

Drepturi de autor:

Formate disponibile

National University Ho Chi Minh City

Ho Chi Minh city University of Technology

Definitions & Fundamental Principles

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

▪ Categories of control system

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

► Lecturer: PhD. Ngô Hà Quang Thịnh

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

● Robert N. Bateson, Introduction to Control System Technology, 7th

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

● Chapter I: Definitions and Fundamental Principles

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

Denis Papin’s water float regulator Wall’s fly-ball governor

Each element in system receives an input signal from several components of

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

- is a mathematical relationship between input signal and y(t)

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

Consider the above control system:

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

Determine speed of mass m if motor is provided by 12 V:

Velocity = 0.05 * 0.5 * 100 * 12 = 30 m/min

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

Three main actions of closed loop control system: measurement, making-

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

• Set point, controlled variable, measured variable, and error point.

• Process: represents a physical process that is affected by actuators

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

• Sensor: done by real value of controlled

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

The position of antenna is controlled more precise despite of the stability of

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

Open loop control system Closed loop control system

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

In order to enhance the quality of control, it is possible to combine between

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

Linear element preserves the geometrical type of input signal

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

Linear element with a dead band nonlinearity

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

Nonlinear element with hysteresis

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

Linear element with a saturation nonlinearity

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

• Decline of quarter of amplitude: determine the amplitude of oscillation that the

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

• Damping threshold: is used if it is desired not to exist the overshoot.

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn