Lecture introduction to control systems chapter 1 introduction (dr huynh thai hoang)

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 ... 4.7k Q1 PORTD 1k A1 015 D6 LED 7DOAN LED_7DOAN B A C D E 11 F G A B C D E F G DOT VCC SW5 A1 015 PORTD VCC3 VCC2 VCC1 1k A1 015 Q4 DOT D 10 1k PORTD 4.7k Q3 VCC4 A1 015 PORTD 12 1k Q2... PORTD 12 1k Q2 VCC 10 k 10 k PIC16F877A V_sensor VREF+ PORTC 15 16 17 18 23 24 25 26 C16 13 33p C17 33p November 2 012 10 MHz CRYSTAL 14 12 31 MCLR*/VPP RA0/AN0 RA1/AN1 RA2/AN2/VREF-/CVREF RA3/AN3/VREF+... © H T Hồng - ÐHBK TPHCM SW1 47 Temperature measurement using thermocouple U1 LM35 35 + - 10 uF V22 R1 25k OP07 5V -5 V V3 + - Thermo couple J1 + C2 10 uF November 2 012 - - OP07 10 0 V1 OP07 Vout