Lecture Introduction to Control Systems - Chapter 1: Introduction (Dr. Huynh Thai Hoang). The main topics covered in this chapter include: what is control system; control principles; components of control systems Components of control systems; examples of control systems; review of complex variables and Laplace transform;...
Lecture Notes Introduction to Control Systems Instructor: Dr Huynh Thai Hoang Department of Automatic Control Faculty of Electrical & Electronics Engineering Ho Chi Minh City University of Technology Email: hthoang@hcmut.edu.vn huynhthaihoang@yahoo.com Homepage: www4.hcmut.edu.vn/~hthoang/ November 2012 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ Course objectives This course iis about Thi b the h analysis l i and dd design i off control systems with emphasis on modeling, state variable representation representation, computer solutions solutions, modern design principles November 2012 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ Course outline Ch t 1: Chapter Introduction I t d ti Chapter 2: Mathematical model of continuous systems Chapter 3: System dynamics Chapter 4: Analysis of system stability Chapter 5: Performances of control systems Chapter 6: Design of control systems Chapter 7: Mathematical model of continuous systems Chapter 8: Analysis of discrete control systems Chapter 9: Design of discrete control systems November 2012 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ Textbook Textbook: T tb k Franklin, F kli Powell, P ll and d Emami-Naeini, E i N i i Feedback F db k Control of Dynamic Systems, 6th ed., Prentice Hall, 2009 Reference: Katsuhiko Otaga, Modern Control Engineering, 3rd ed., Prentice Hall Farid Golnaraghi and Benjamin C Kuo, Automatic Control Systems, 9th ed., 2009, Prentice Hall Richard Ri h d C C Dorf D f and d Robert R b t H H Bishop, Bi h M d Modern C t l Control Systems, 11th ed, Peason November 2012 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ Learning outcomes Explain the concepts of open open-loop loop and closed-loop closed loop control systems Describe continuous and discrete control systems using transfer function and state space model Calculate the equivalent transfer function of control systems using block diagram and signal flow graph Analyze the dynamics of control systems in time domain and frequency domain Analyze the stability of control systems Analyze the transient and steady-state performances of control systems Analyze the controllability and observerbility of control systems Design lead-lag compensator using root locus and frequency response Design PID controller using frequency response, Zeigler-Nichols method D i state Design t t ffeedback db k controller t ll using i pole l placement l t method th d Use teamwork and comunication skills in collaborating course design projects Use modern software in analysis and design control systems November 2012 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ Grading Class participation: Cl ti i ti Homework: Midterm exam: 10% 20% 20% Lab: Final exam: 20% 30% November 2012 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ How to learn the course??? ( ) After weeks we (*) tend to remember… 10% of what we read 20% of what we hear 30% of what we see 50% of what we see and hear 70% of what we say 90% of what we say and Reading Hearing words Looking at pictures Watching a movie Looking at an exhibit Watching a demostration Seeing S i it d done on llocation ti Participating in a discussion Given a talk Doing a dramatic presentation PASSIVE ACTIVE Simulating the real experience Doing the real thing (*) Edgar Dale, “Audio-Visual Methods in Teching,” Holt, Rinehart and Winston November 2012 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ Active learning “Learning is not a spectator sport Students not learn much just by sitting in class listening to teachers, memorizing prepackaged assignments assignments, and spitting out answers They must talk about what they are learning, write about it, it relate it to past experiences, experiences apply it to their daily lives They must make what they learn part of themselves.” Chickering, A & Gamson, Z F (March 1987) Seven principles for good practice AAHE Bulletin 39: 3-7 November 2012 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ What is active learning? “Active Learning is, in short, anything that students in a classroom other than merely passively listening to an instructor's instructor s lecture lecture This includes everything from listening practices which help the students to absorb what they hear, to short writing exercises in which students react to lecture material, to complex group exercises in which students apply course material to "real life" situations and/or to new problems “ Paulson & Faust, California State University, Los Angeles, http://www.calstatela.edu/dept/chem/chem2/Active/index.htm November 2012 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ Chapter p INTRODUCTION November 2012 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 10 Antenna position control Potentiometer Antenna i(t) o(t) Desired azimuth angle input Azimuth angle output Differential amplifier and power amplifier Motor November 2012 Potentiometer © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 52 Analog PID control of DC motor November 2012 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 53 Digital PID control of DC motor November 2012 © H T Hồng - ÐHBK TPHCM 54 An industrial DC motor control system DC Motor E Encoder d DC Driver November 2012 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 55 Level control Level control can be found f in industrial processes such as food and beverage, waste water treatment,… Level control, flow control Sensor: Level sensor: presure sensor, capacitor sensor, ultra sonic Flow sensor: ultra sonic November 2012 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 56 Level control system in industry LC LV LT Li id ttank Liquid k LC: Level Controller LT: Level Transmitter LV: Level Valve November 2012 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 57 Pulp concentration control November 2012 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 58 Pitch angle control November 2012 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 59 Block diagram of pitch angle control system November 2012 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 60 CNC diagram November 2012 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 61 Block diagram of CNC control system November 2012 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 62 Distillation Process November 2012 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 63 Steam Power Generator November 2012 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 64 Review of complex p variables and matrix theory November 2012 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 65 Review Complex C l variables: i bl A Appendix di B, B Feedback F db k Control C t l off Dynamic Systems, Franklin, Powell, and Emami-Naeini, 6th ed Prentice Hall, ed., Hall 2009 Matrix theory: Appendix C, Feedback Control of Dynamic Systems Franklin, Systems, Franklin Powell, Powell and Emami-Naeini, Emami Naeini 6th ed., ed Prentice Hall, 2009 November 2012 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 66 ... control systems Chapter 6: Design of control systems Chapter 7: Mathematical model of continuous systems Chapter 8: Analysis of discrete control systems Chapter 9: Design of discrete control. .. t 1: Chapter Introduction I t d ti Chapter 2: Mathematical model of continuous systems Chapter 3: System dynamics Chapter 4: Analysis of system stability Chapter 5: Performances of control. .. dynamics of control systems in time domain and frequency domain Analyze the stability of control systems Analyze the transient and steady-state performances of control systems Analyze the controllability