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CCS-532 Ref: Chapter 1 & 2: Dorf, R. C. & Bishop, R. H. , Modern Control Systems Chapter 1 & 2: Nise, N. S. Control System Engineering
Systems
What is Control?
Manual versus Automatic Control Control is the process of causing a system variable (e.temperature, position) to conform to some desired value or trajectory, called reference value or trajectory Example: driving a car implies controlling the vehicle to follow the desired path and arrive safely at a planned destination
If you drive the car yourself, you are performing a manual control of the car. If you design a machine (or use a computer) to do it, then you build an automatic control system
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Objective function: To control the direction and speed of the car Outputs: actual direction and speed of the car Control inputs: road markings and speed signs Disturbances: road surface and grade, wind, obstacles Possible subsystems: the car alone, power steering system, braking system, . . .
Response of a position controls Systems showing effects of hi and low controller gain on the output response.
Example 2: Antenna Positioning Control System Original system: the antenna with electric motor drive systems. Control objective: To point the antenna in a desired reference direction. Control inputs: Drive motor voltages. Outputs: The elevation and azimuth of the antenna. Disturbances: Wind, rain, snow.
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Figure 1.8
The search for extraterrestrial life is being carried out with radio antennas like the one pictured here. A radio antenna is Indian Institute of Information Technology - Allahabad an
Peter Menzel.
Figure 1.9
b. detailed layout; c. schematic;
Design (Synthesis) Design a new system or compensate (modify) an existing system for 1. Stability guarantee 2. Good dynamic performance 3. Satisfactory steady-state performance
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Methods to be Covered for Analysis and Design in the Course Modeling Laplace transforms and transfer functions, state-space model Time-domain method Time-domain performance specifications Stability, transient and steady-state responses Complex-domain method Root locus method for analysis and design of control systems Frequency-domain method Frequency-domain performance specifications Nyquist plots and Bode diagrams for analysis and design of control systems Analysis and design methods based on state-space models
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Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright 2004 by John Wiley & Sons. All rights reserved. Indian Institute of Information Technology - Allahabad
Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright 2004 by John Wiley & Sons. All rights reserved.
Figure 1.3
Rover was built to work in contaminated areas at Three Mile Island in Middleton, PA, where a nuclear accident occurred in 1979. The remote controlled robots Photo Hank Morgan/Rainbow/PNI. long arm can be Information Technology - Allahabad Indian Institute of
Figure 1.4
a. Video laser disc player; b. objective lens reading pits on a laser disc;
(a)
(b)
c. optical path for play back showing (c) tracking mirror rotated by a control system Indiankeep ofthe to Institute Information Technology - Allahabad
Figure 1.7 Computer hard disk drive, showing disks and read/write head
a. open-loop system;
Table 1.1
Test waveforms used in control systems
J. Ayers, 1988.
1997, ASME.
1997, ASME.