Lecture Notes Fundamentals of Control Systems Instructor: Assoc Prof 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/ December 2013 © 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 December 2013 © 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 December 2013 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ Textbook Textbook: T tb k Katsuhiko K t hik Otaga, Ot M d Modern C t l Engineering, Control E i i 3rd ed., Prentice Hall Reference: Franklin, Powell, and Emami-Naeini, Feedback Control of Dynamic Systems, Systems 6th ed., ed Prentice Hall, Hall 2009 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 December 2013 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ Grading Class participation: Cl ti i ti Homework: Midterm exam: 10% 20% 20% Project presentation: Final exam: 20% 30% December 2013 © 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 December 2013 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ Chapter p INTRODUCTION December 2013 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ Topics Whatt is Wh i control t l system? t ? Control principles Components of control systems Examples of control systems Review e e o of co complex p e variables a ab es a and d Laplace ap ace ttransform a so December 2013 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 10 What is control system? ? December 2013 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 11 Exercise Find examples of control systems? December 2013 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 12 Analog PID control of DC motor December 2013 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 81 Digital PID control of DC motor December 2013 © H T Hồng - ÐHBK TPHCM 82 An industrial DC motor control system DC Motor E Encoder d DC Driver December 2013 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 83 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 December 2013 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 84 Level control system in industry LC LV LT Li id ttank Liquid k LC: Level Controller LT: Level Transmitter LV: Level Valve December 2013 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 85 Pulp concentration control December 2013 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 86 Pitch angle control December 2013 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 87 Block diagram of pitch angle control system December 2013 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 88 CNC diagram December 2013 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 89 Block diagram of CNC control system December 2013 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 90 Distillation Process December 2013 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 91 Steam Power Generator December 2013 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 92 Course 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 December 2013 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 93 Review of complex p variables and matrix theory December 2013 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 94 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 December 2013 © H T Hoang - www4.hcmut.edu.vn/~hthoang/ 95