Solution manual for modern control systems 13th edition by dorf

Solution Manual for Modern Control Systems 13th Edition by Dor Full file at https://TestbankDirect.eu/ C H A P T E R Introduction to Control Systems Exercises T a his th nd wo o eir is rk w r sa co pro is ill le u vi pr de o rse de ot st f a s d s ec ro n an o te y y p d le d th a a ly by e rt ss fo U in o e r te f t ss th nite gr hi in e ity s w g us d S of or stu e o tat th k ( de f i es e in nt ns co w cl le tr p or ud a uc y r k an ing rnin tors igh d on g in t la is w D no the iss tea s t p W em ch er or in ing m ld a itt W tio ed id n e W eb ) There are, in general, no unique solutions to the following exercises and problems Other equally valid block diagrams may be submitted by the student E1.1 Describe typical sensors that can measure each of the following: a Linear position → ultrasonic transducer b Velocity (or speed) → Doppler radar c Non-gravitational acceleration → inertial measurement unit d Rotational position (or angle) → rotary encoder e Rotational velocity → gyroscope f Temperature → thermocouple g Pressure → barometer h Liquid (or gas) flow rate → velocimeter i Torque → torquemeter j Force → load cell k Earth’s magnetic field → magnetometer l Heart rate → electrocardiograph E1.2 Describe typical actuators that can convert the following: a Fluidic energy to mechanical energy → hydraulic cylinder b Electrical energy to mechanical energy → electric motor c Mechanical deformation to electrical energy → piezoelectric actuator d Chemical energy to kinetic energy → automobile engine e Heat to electrical energy → thermoelectric generator © 2017 Pearson Education, Inc., Hoboken, NJ All rights reserved This material is protected under all copyright laws as they currently exist No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher Full file at https://TestbankDirect.eu/ Solution Manual for Modern Control Systems 13th Edition by Dor Full file at https://TestbankDirect.eu/ CHAPTER E1.3 Introduction to Control Systems A microprocessor controlled laser system: Controller Error Desired power output - Microprocessor Laser Power out Measurement Measured Power Sensor power E1.4 Process Current i(t) A driver controlled cruise control system: Controller Process Foot pedal - Driver Car and Engine T a his th nd wo o eir is rk w r sa co pro is ill le u vi pr de o rse de ot st f a s d s ec ro n an o te y y p d le d th a a ly by e rt ss fo U in o e r te f t ss th nite gr hi in e ity s w g us d S of or stu e o tat th k ( de f i es e in nt ns co w cl le tr p or ud a uc y r k an ing rnin tors igh d on g in t la is w D no the iss tea s t p W em ch er or in ing m ld a itt W tio ed id n e W eb ) Desired speed Actual auto speed Measurement Visual indication of speed E1.5 Speedometer Although the principle of conservation of momentum explains much of the process of fly-casting, there does not exist a comprehensive scientific explanation of how a fly-fisher uses the small backward and forward motion of the fly rod to cast an almost weightless fly lure long distances (the current world-record is 236 ft) The fly lure is attached to a short invisible leader about 15-ft long, which is in turn attached to a longer and thicker Dacron line The objective is cast the fly lure to a distant spot with deadeye accuracy so that the thicker part of the line touches the water first and then the fly gently settles on the water just as an insect might Fly-fisher Desired position of the fly Controller - Mind and body of the fly-fisher Wind disturbance Process Rod, line, and cast Actual position of the fly Measurement Visual indication of the position of the fly Vision of the fly-fisher © 2017 Pearson Education, Inc., Hoboken, NJ All rights reserved This material is protected under all copyright laws as they currently exist No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher Full file at https://TestbankDirect.eu/ Solution Manual for Modern Control Systems 13th Edition by Dor Full file at https://TestbankDirect.eu/ Exercises An autofocus camera control system: E1.6 One-way trip time for the beam Conversion factor (speed of light or sound) K1 Beam Distance to subject Emitter/ Receiver Subject Beam return Lens focusing motor Lens Tacking a sailboat as the wind shifts: T a his th nd wo o eir is rk w r sa co pro is ill le u vi pr de o rse de ot st f a s d s ec ro n an o te y y p d le d th a a ly by e rt ss fo U in o e r te f t ss th nite gr hi in e ity s w g us d S of or stu e o tat th k ( de f i es e in nt ns co w cl le tr p or ud a uc y r k an ing rnin tors igh d on g in t la is w D no the iss tea s t p W em ch er or in ing m ld a itt W tio ed id n e W eb ) E1.7 Error Desired sailboat direction - Controller Actuators Sailor Rudder and sail adjustment Wind Process Sailboat Actual sailboat direction Measurement Measured sailboat direction Gyro compass E1.8 An automated highway control system merging two lanes of traffic: Controller Desired gap Error - Embedded computer Actuators Brakes, gas or steering Process Active vehicle Actual gap Measurement Measured gap Radar © 2017 Pearson Education, Inc., Hoboken, NJ All rights reserved This material is protected under all copyright laws as they currently exist No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher Full file at https://TestbankDirect.eu/ Solution Manual for Modern Control Systems 13th Edition by Dor Full file at https://TestbankDirect.eu/ CHAPTER E1.9 Introduction to Control Systems A skateboard rider maintaining vertical orientation and desired speed: Controller Desired vertical orientation & speed Errors - Actuators Process Rider repositioning & propelling Rider Rider orientation & speed Rider & Skateboard Measurement Rider Human biofeedback control system: T a his th nd wo o eir is rk w r sa co pro is ill le u vi pr de o rse de ot st f a s d s ec ro n an o te y y p d le d th a a ly by e rt ss fo U in o e r te f t ss th nite gr hi in e ity s w g us d S of or stu e o tat th k ( de f i es e in nt ns co w cl le tr p or ud a uc y r k an ing rnin tors igh d on g in t la is w D no the iss tea s t p W em ch er or in ing m ld a itt W tio ed id n e W eb ) E1.10 Controller Desired body temp - Process Hypothalumus Message to blood vessels Actual body temp Human body Measurement Visual indication of body temperature E1.11 Desired Flight Path TV display Body sensor E-enabled aircraft with ground-based flight path control: Corrections to the flight path - Controller Aircraft Gc(s) G(s) Flight Path Health Parameters Meteorological data Location and speed Optimal flight path Ground-Based Computer Network Optimal flight path Desired Flight Path Health Parameters Meteorological data Corrections to the flight path Gc(s) G(s) Controller Aircraft Location and speed Flight Path © 2017 Pearson Education, Inc., Hoboken, NJ All rights reserved This material is protected under all copyright laws as they currently exist No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher Full file at https://TestbankDirect.eu/ Solution Manual for Modern Control Systems 13th Edition by Dor Full file at https://TestbankDirect.eu/ Exercises E1.12 Specified Flight Trajectory Unmanned aerial vehicle used for crop monitoring in an autonomous mode: Trajectory error - Controller UAV Gc(s) G(s) Flight Trajectory Sensor Location with respect to the ground Ground photo Camera An inverted pendulum control system using an optical encoder to measure the angle of the pendulum and a motor producing a control torque: T a his th nd wo o eir is rk w r sa co pro is ill le u vi pr de o rse de ot st f a s d s ec ro n an o te y y p d le d th a a ly by e rt ss fo U in o e r te f t ss th nite gr hi in e ity s w g us d S of or stu e o tat th k ( de f i es e in nt ns co w cl le tr p or ud a uc y r k an ing rnin tors igh d on g in t la is w D no the iss tea s t p W em ch er or in ing m ld a itt W tio ed id n e W eb ) E1.13 Map Correlation Algorithm Actuator Voltage Error Desired angle - Controller Process Torque Motor Pendulum Angle Measurement Measured angle E1.14 In the video game, the player can serve as both the controller and the sensor The objective of the game might be to drive a car along a prescribed path The player controls the car trajectory using the joystick using the visual queues from the game displayed on the computer monitor Controller Desired game objective Optical encoder Error - Player Actuator Joystick Process Video game Game objective Measurement Player (eyesight, tactile, etc.) © 2017 Pearson Education, Inc., Hoboken, NJ All rights reserved This material is protected under all copyright laws as they currently exist No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher Full file at https://TestbankDirect.eu/ Solution Manual for Modern Control Systems 13th Edition by Dor Full file at https://TestbankDirect.eu/ CHAPTER Introduction to Control Systems Problems P1.1 Desired temperature set by the driver An automobile interior cabin temperature control system block diagram: Error - Controller Process Thermostat and air conditioning unit Automobile cabin Automobile cabin temperature Measurement Measured temperature T a his th nd wo o eir is rk w r sa co pro is ill le u vi pr de o rse de ot st f a s d s ec ro n an o te y y p d le d th a a ly by e rt ss fo U in o e r te f t ss th nite gr hi in e ity s w g us d S of or stu e o tat th k ( de f i es e in nt ns co w cl le tr p or ud a uc y r k an ing rnin tors igh d on g in t la is w D no the iss tea s t p W em ch er or in ing m ld a itt W tio ed id n e W eb ) P1.2 Temperature sensor A human operator controlled valve system: Controller Process Error * Desired fluid output * - Tank Valve Fluid output Measurement Visual indication of fluid output * Meter * = operator functions P1.3 A chemical composition control block diagram: Controller Process Error Desired chemical composition - Mixer tube Valve Chemical composition Measurement Measured chemical composition Infrared analyzer © 2017 Pearson Education, Inc., Hoboken, NJ All rights reserved This material is protected under all copyright laws as they currently exist No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher Full file at https://TestbankDirect.eu/ Solution Manual for Modern Control Systems 13th Edition by Dor Full file at https://TestbankDirect.eu/ Problems P1.4 A nuclear reactor control block diagram: Controller Process Error Desired power level Reactor and rods Motor and amplifier - Output power level Measurement Measured chemical composition P1.5 A light seeking control system to track the sun: Measurement P1.6 Controller T a his th nd wo o eir is rk w r sa co pro is ill le u vi pr de o rse de ot st f a s d s ec ro n an o te y y p d le d th a a ly by e rt ss fo U in o e r te f t ss th nite gr hi in e ity s w g us d S of or stu e o tat th k ( de f i es e in nt ns co w cl le tr p or ud a uc y r k an ing rnin tors igh d on g in t la is w D no the iss tea s t p W em ch er or in ing m ld a itt W tio ed id n e W eb ) Light source Dual Photocells Ionization chamber Ligh intensity Trajectory Planner Desired carriage position Controller - K Process Motor, carriage, and gears Photocell carriage position If you assume that increasing worker’s wages results in increased prices, then by delaying or falsifying cost-of-living data you could reduce or eliminate the pressure to increase worker’s wages, thus stabilizing prices This would work only if there were no other factors forcing the cost-of-living up Government price and wage economic guidelines would take the place of additional “controllers” in the block diagram, as shown in the block diagram Controller Process Market-based prices Initial wages Motor inputs Error - Industry Government price guidelines Prices Controller Wage increases Government wage guidelines Cost-of-living K1 © 2017 Pearson Education, Inc., Hoboken, NJ All rights reserved This material is protected under all copyright laws as they currently exist No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher Full file at https://TestbankDirect.eu/ Solution Manual for Modern Control Systems 13th Edition by Dor Full file at https://TestbankDirect.eu/ CHAPTER P1.7 Introduction to Control Systems Assume that the cannon fires initially at exactly 5:00 p.m We have a positive feedback system Denote by ∆t the time lost per day, and the net time error by ET Then the follwoing relationships hold: ∆t = 4/3 + = 13/3 and ET = 12 days × 13/3 min./day Therefore, the net time error after 15 days is ET = 52 The student-teacher learning process: Process T a his th nd wo o eir is rk w r sa co pro is ill le u vi pr de o rse de ot st f a s d s ec ro n an o te y y p d le d th a a ly by e rt ss fo U in o e r te f t ss th nite gr hi in e ity s w g us d S of or stu e o tat th k ( de f i es e in nt ns co w cl le tr p or ud a uc y r k an ing rnin tors igh d on g in t la is w D no the iss tea s t p W em ch er or in ing m ld a itt W tio ed id n e W eb ) P1.8 Controller Lectures Error Desired knowledge - Teacher Knowledge Student Measurement Exams Measured knowledge P1.9 A human arm control system: Process Controller u Desired arm location e y s Brain Nerve signals Arm & muscles d Arm location z Measurement Visual indication of arm location Pressure Eyes and pressure receptors © 2017 Pearson Education, Inc., Hoboken, NJ All rights reserved This material is protected under all copyright laws as they currently exist No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher Full file at https://TestbankDirect.eu/ Solution Manual for Modern Control Systems 13th Edition by Dor Full file at https://TestbankDirect.eu/ Problems P1.10 An aircraft flight path control system using GPS: Controller Desired flight path from air traffic controllers Actuators Computer Auto-pilot Error - Process Ailerons, elevators, rudder, and engine power Flight path Aircraft Measurement Measured flight path The accuracy of the clock is dependent upon a constant flow from the orifice; the flow is dependent upon the height of the water in the float tank The height of the water is controlled by the float The control system controls only the height of the water Any errors due to enlargement of the orifice or evaporation of the water in the lower tank is not accounted for The control system can be seen as: T a his th nd wo o eir is rk w r sa co pro is ill le u vi pr de o rse de ot st f a s d s ec ro n an o te y y p d le d th a a ly by e rt ss fo U in o e r te f t ss th nite gr hi in e ity s w g us d S of or stu e o tat th k ( de f i es e in nt ns co w cl le tr p or ud a uc y r k an ing rnin tors igh d on g in t la is w D no the iss tea s t p W em ch er or in ing m ld a itt W tio ed id n e W eb ) P1.11 Desired height of the water in float tank P1.12 Global Positioning System - Controller Process Float level Flow from upper tank to float tank Actual height Assume that the turret and fantail are at 90◦ , if θw = θF -90◦ The fantail operates on the error signal θw - θT , and as the fantail turns, it drives the turret to turn y Wind qW = Wind angle qF = Fantail angle qT = Turret angle Controller * qW qF qT qW * Turret - Process Torque Error Fantail Fantail Gears & turret qT x © 2017 Pearson Education, Inc., Hoboken, NJ All rights reserved This material is protected under all copyright laws as they currently exist No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher Full file at https://TestbankDirect.eu/ Solution Manual for Modern Control Systems 13th Edition by Dor Full file at https://TestbankDirect.eu/ 10 CHAPTER P1.13 Introduction to Control Systems This scheme assumes the person adjusts the hot water for temperature control, and then adjusts the cold water for flow rate control Controller Error Desired water temperature Process Hot water system Valve adjust - Hot water Actual water temperature and flow rate Desired water flow rate Cold water system Valve adjust - Cold water Measurement Measured water flow P1.14 Human: visual and touch T a his th nd wo o eir is rk w r sa co pro is ill le u vi pr de o rse de ot st f a s d s ec ro n an o te y y p d le d th a a ly by e rt ss fo U in o e r te f t ss th nite gr hi in e ity s w g us d S of or stu e o tat th k ( de f i es e in nt ns co w cl le tr p or ud a uc y r k an ing rnin tors igh d on g in t la is w D no the iss tea s t p W em ch er or in ing m ld a itt W tio ed id n e W eb ) Measured water temperature If the rewards in a specific trade is greater than the average reward, there is a positive influx of workers, since q(t) = f1 (c(t) − r(t)) If an influx of workers occurs, then reward in specific trade decreases, since c(t) = −f2 (q(t)) Controller Average rewards r(t) P1.15 Desired Fuel Pressure Error - f1(c(t)-r(t)) Process q(t) - f2(q(t)) Total of rewards c(t) A computer controlled fuel injection system: - Controller Process Electronic Control Unit High Pressure Fuel Supply Pump and Electronic Fuel Injectors Measurement Measured fuel pressure Fuel Pressure Fuel Pressure Sensor © 2017 Pearson Education, Inc., Hoboken, NJ All rights reserved This material is protected under all copyright laws as they currently exist No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher Full file at https://TestbankDirect.eu/ Solution Manual for Modern Control Systems 13th Edition by Dor Full file at https://TestbankDirect.eu/ 11 Problems P1.16 With the onset of a fever, the body thermostat is turned up The body adjusts by shivering and less blood flows to the skin surface Aspirin acts to lowers the thermal set-point in the brain Controller Desired temperature or set-point from body thermostat in the brain Process Adjustments within the body - Body temperature Body Measurement Measured body temperature Internal sensor Hitting a baseball is arguably one of the most difficult feats in all of sports Given that pitchers may throw the ball at speeds of 90 mph (or higher!), batters have only about 0.1 second to make the decision to swing—with bat speeds aproaching 90 mph The key to hitting a baseball a long distance is to make contact with the ball with a high bat velocity This is more important than the bat’s weight, which is usually around 33 ounces Since the pitcher can throw a variety of pitches (fast ball, curve ball, slider, etc.), a batter must decide if the ball is going to enter the strike zone and if possible, decide the type of pitch The batter uses his/her vision as the sensor in the feedback loop A high degree of eye-hand coordination is key to success—that is, an accurate feedback control system P1.18 Define the following variables: p = output pressure, fs = spring force = Kx, fd = diaphragm force = Ap, and fv = valve force = fs - fd The motion of the valve is described by yă = fv /m where m is the valve mass The output pressure is proportional to the valve displacement, thus p = cy , where c is the constant of proportionality T a his th nd wo o eir is rk w r sa co pro is ill le u vi pr de o rse de ot st f a s d s ec ro n an o te y y p d le d th a a ly by e rt ss fo U in o e r te f t ss th nite gr hi in e ity s w g us d S of or stu e o tat th k ( de f i es e in nt ns co w cl le tr p or ud a uc y r k an ing rnin tors igh d on g in t la is w D no the iss tea s t p W em ch er or in ing m ld a itt W tio ed id n e W eb ) P1.17 Constant of proportionality Spring Screw displacement x(t) K fs - Valve position fv Valve c y Output pressure p(t) Diaphragm area fd A © 2017 Pearson Education, Inc., Hoboken, NJ All rights reserved This material is protected under all copyright laws as they currently exist No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher Full file at https://TestbankDirect.eu/ Solution Manual for Modern Control Systems 13th Edition by Dor Full file at https://TestbankDirect.eu/ 12 CHAPTER P1.19 Introduction to Control Systems A control system to keep a car at a given relative position offset from a lead car: Throttle Position of follower Follower car Actuator u - Controller Relative position - Position of lead Lead car Fuel throttle (fuel) Video camera & processing algorithms Reference photo Desired relative position A control system for a high-performance car with an adjustable wing: T a his th nd wo o eir is rk w r sa co pro is ill le u vi pr de o rse de ot st f a s d s ec ro n an o te y y p d le d th a a ly by e rt ss fo U in o e r te f t ss th nite gr hi in e ity s w g us d S of or stu e o tat th k ( de f i es e in nt ns co w cl le tr p or ud a uc y r k an ing rnin tors igh d on g in t la is w D no the iss tea s t p W em ch er or in ing m ld a itt W tio ed id n e W eb ) P1.20 Desired road adhesion - Process Actuator Controller Computer Adjustable wing Road conditions Race Car Road adhesion Measurement Measured road adhesion P1.21 K Tire internal strain gauges A control system for a twin-lift helicopter system: Measurement Measured separation distance - Controller Desired separation distance Process Separation distance Pilot Desired altitude Radar Helicopter Altitude Measurement Measured altitude Altimeter © 2017 Pearson Education, Inc., Hoboken, NJ All rights reserved This material is protected under all copyright laws as they currently exist No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher Full file at https://TestbankDirect.eu/ Solution Manual for Modern Control Systems 13th Edition by Dor Full file at https://TestbankDirect.eu/ 13 Problems P1.22 The desired building deflection would not necessarily be zero Rather it would be prescribed so that the building is allowed moderate movement up to a point, and then active control is applied if the movement is larger than some predetermined amount Process Controller Desired deflection Hydraulic stiffeners - Building Deflection Measurement P1.23 Strain gauges on truss structure K T a his th nd wo o eir is rk w r sa co pro is ill le u vi pr de o rse de ot st f a s d s ec ro n an o te y y p d le d th a a ly by e rt ss fo U in o e r te f t ss th nite gr hi in e ity s w g us d S of or stu e o tat th k ( de f i es e in nt ns co w cl le tr p or ud a uc y r k an ing rnin tors igh d on g in t la is w D no the iss tea s t p W em ch er or in ing m ld a itt W tio ed id n e W eb ) Measured deflection The human-like face of the robot might have micro-actuators placed at strategic points on the interior of the malleable facial structure Cooperative control of the micro-actuators would then enable the robot to achieve various facial expressions Controller Process Error Desired actuator position - Voltage Electromechanical actuator Amplifier Actuator position Measurement Position sensor Measured position P1.24 We might envision a sensor embedded in a “gutter” at the base of the windshield which measures water levels—higher water levels corresponds to higher intensity rain This information would be used to modulate the wiper blade speed Process Controller Desired wiper speed Wiper blade and motor Electronic Control Unit - Wiper blade speed Measurement K Measured water level Water depth sensor © 2017 Pearson Education, Inc., Hoboken, NJ All rights reserved This material is protected under all copyright laws as they currently exist No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher Full file at https://TestbankDirect.eu/ Solution Manual for Modern Control Systems 13th Edition by Dor Full file at https://TestbankDirect.eu/ 14 CHAPTER Introduction to Control Systems A feedback control system for the space traffic control: P1.25 Controller Error Desired orbit position Control law - Actuator Jet commands Process Applied forces Reaction control jets Satellite Actual orbit position Measurement Measured orbit position Radar or GPS Earth-based control of a microrover to point the camera: P1.26 Receiver/ Transmitter Controller G(s) Gc(s) Rover position m Ca ap er d an ap er m m ca m co d re on su iti ea os M Measured camera position on iti os P1.27 Desired Charge Level T a his th nd wo o eir is rk w r sa co pro is ill le u vi pr de o rse de ot st f a s d s ec ro n an o te y y p d le d th a a ly by e rt ss fo U in o e r te f t ss th nite gr hi in e ity s w g us d S of or stu e o tat th k ( de f i es e in nt ns co w cl le tr p or ud a uc y r k an ing rnin tors igh d on g in t la is w D no the iss tea s t p W em ch er or in ing m ld a itt W tio ed id n e W eb ) Microrover Camera position command Camera Camera Position Sensor Control of a methanol fuel cell: - Controller Recharging System Gc(s) GR(s) Methanol water solution Fuel Cell G(s) Charge Level Sensor Measured charge level H(s) © 2017 Pearson Education, Inc., Hoboken, NJ All rights reserved This material is protected under all copyright laws as they currently exist No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher Full file at https://TestbankDirect.eu/ Solution Manual for Modern Control Systems 13th Edition by Dor Full file at https://TestbankDirect.eu/ 15 Advanced Problems Advanced Problems AP1.1 Control of a robotic microsurgical device: Microsurgical robotic manipulator Controller Desired End-effector Position - G(s) Gc(s) End-effector Position Sensor AP1.2 T a his th nd wo o eir is rk w r sa co pro is ill le u vi pr de o rse de ot st f a s d s ec ro n an o te y y p d le d th a a ly by e rt ss fo U in o e r te f t ss th nite gr hi in e ity s w g us d S of or stu e o tat th k ( de f i es e in nt ns co w cl le tr p or ud a uc y r k an ing rnin tors igh d on g in t la is w D no the iss tea s t p W em ch er or in ing m ld a itt W tio ed id n e W eb ) H(s) An advanced wind energy system viewed as a mechatronic system: AERODYNAMIC DESIGN STRUCTURAL DESIGN OF THE TOWER ELECTRICAL AND POWER SYSTEMS SENSORS Rotor rotational sensor Wind speed and direction sensor ACTUATORS Motors for manipulatiing the propeller pitch Physical System Modeling CONTROL SYSTEM DESIGN AND ANALYSIS ELECTRICAL SYSTEM DESIGN AND ANALYSIS POWER GENERATION AND STORAGE Sensors and Actuators WIND ENERGY SYSTEM Software and Data Acquisition CONTROLLER ALGORITHMS DATA ACQUISTION: WIND SPEED AND DIRECTION ROTOR ANGULAR SPEED PROPELLOR PITCH ANGLE AP1.3 Signals and Systems Computers and Logic Systems COMPUTER EQUIPMENT FOR CONTROLLING THE SYSTEM SAFETY MONITORING SYSTEMS The automatic parallel parking system might use multiple ultrasound sensors to measure distances to the parked automobiles and the curb The sensor measurements would be processed by an on-board computer to determine the steering wheel, accelerator, and brake inputs to avoid collision and to properly align the vehicle in the desired space © 2017 Pearson Education, Inc., Hoboken, NJ All rights reserved This material is protected under all copyright laws as they currently exist No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher Full file at https://TestbankDirect.eu/ Solution Manual for Modern Control Systems 13th Edition by Dor Full file at https://TestbankDirect.eu/ 16 CHAPTER Introduction to Control Systems Even though the sensors may accurately measure the distance between the two parked vehicles, there will be a problem if the available space is not big enough to accommodate the parking car Controller Desired automobile position Error Actuators On-board computer - Steering wheel, accelerator, and brake Process Actual automobile position Automobile Measurement Position of automobile relative to parked cars and curb Ultrasound T a his th nd wo o eir is rk w r sa co pro is ill le u vi pr de o rse de ot st f a s d s ec ro n an o te y y p d le d th a a ly by e rt ss fo U in o e r te f t ss th nite gr hi in e ity s w g us d S of or stu e o tat th k ( de f i es e in nt ns co w cl le tr p or ud a uc y r k an ing rnin tors igh d on g in t la is w D no the iss tea s t p W em ch er or in ing m ld a itt W tio ed id n e W eb ) There are various control methods that can be considered, including placing the controller in the feedforward loop (as in Figure 1.3) The adaptive optics block diagram below shows the controller in the feedback loop, as an alternative control system architecture AP1.4 Process Astronomical object Uncompensated image Astronomical telescope mirror Compensated image Measurement Wavefront reconstructor Wavefront corrector Wavefront sensor Actuator & controller AP1.5 Desired floor Error - The control system might have an inner loop for controlling the acceleration and an outer loop to reach the desired floor level precisely Controller #2 Outer Loop Desired acceleration Error - Controller #1 Elevator motor, cables, etc Elevator Floor Inner Loop Measured acceleration Acceleration Measurement © 2017 Pearson Education, Inc., Hoboken, NJ All rights reserved This material is protected under all copyright laws as they currently exist No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher Full file at https://TestbankDirect.eu/ Solution Manual for Modern Control Systems 13th Edition by Dor Full file at https://TestbankDirect.eu/ 17 Advanced Problems An obstacle avoidance control system would keep the robotic vacuum cleaner from colliding with furniture but it would not necessarily put the vacuum cleaner on an optimal path to reach the entire floor This would require another sensor to measure position in the room, a digital map of the room layout, and a control system in the outer loop AP1.6 Process Desired distance from obstacles Error - Controller Robotic vacuum cleaner Distance from obstacles Infrared sensors T a his th nd wo o eir is rk w r sa co pro is ill le u vi pr de o rse de ot st f a s d s ec ro n an o te y y p d le d th a a ly by e rt ss fo U in o e r te f t ss th nite gr hi in e ity s w g us d S of or stu e o tat th k ( de f i es e in nt ns co w cl le tr p or ud a uc y r k an ing rnin tors igh d on g in t la is w D no the iss tea s t p W em ch er or in ing m ld a itt W tio ed id n e W eb ) Measured distance from obstacle Motors, wheels, etc © 2017 Pearson Education, Inc., Hoboken, NJ All rights reserved This material is protected under all copyright laws as they currently exist No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher Full file at https://TestbankDirect.eu/ Solution Manual for Modern Control Systems 13th Edition by Dor Full file at https://TestbankDirect.eu/ 18 CHAPTER Introduction to Control Systems Design Problems CDP1.1 The machine tool with the movable table in a feedback control configuration: Controller Error Desired position x Amplifier - Actuator Process Machine tool with table Positioning motor Actual position x Measurement Position sensor DP1.1 T a his th nd wo o eir is rk w r sa co pro is ill le u vi pr de o rse de ot st f a s d s ec ro n an o te y y p d le d th a a ly by e rt ss fo U in o e r te f t ss th nite gr hi in e ity s w g us d S of or stu e o tat th k ( de f i es e in nt ns co w cl le tr p or ud a uc y r k an ing rnin tors igh d on g in t la is w D no the iss tea s t p W em ch er or in ing m ld a itt W tio ed id n e W eb ) Measured position Use the stereo system and amplifiers to cancel out the noise by emitting signals 180◦ out of phase with the noise Process Controller Noise signal Desired noise = - Shift phase by 180 deg Machine tool with table Positioning motor Noise in cabin Measurement Microphone DP1.2 Desired speed of auto set by driver 1/K An automobile cruise control system: Controller Desired shaft speed - Electric motor Process Automobile and engine Valve K Actual speed of auto Measurement Measured shaft speed Shaft speed sensor Drive shaf t speed © 2017 Pearson Education, Inc., Hoboken, NJ All rights reserved This material is protected under all copyright laws as they currently exist No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher Full file at https://TestbankDirect.eu/ Solution Manual for Modern Control Systems 13th Edition by Dor Full file at https://TestbankDirect.eu/ 19 Design Problems DP1.3 Utilizing a smart phone to remotely monitor and control a washing machine: Controller Desired state of washing machine Error - Human operator & smart phone Process Internet Washing machine Washing machine state input module Actual state of washing machine Measurement Washing machine state output module Internet An automated cow milking system: T a his th nd wo o eir is rk w r sa co pro is ill le u vi pr de o rse de ot st f a s d s ec ro n an o te y y p d le d th a a ly by e rt ss fo U in o e r te f t ss th nite gr hi in e ity s w g us d S of or stu e o tat th k ( de f i es e in nt ns co w cl le tr p or ud a uc y r k an ing rnin tors igh d on g in t la is w D no the iss tea s t p W em ch er or in ing m ld a itt W tio ed id n e W eb ) DP1.4 Measurement Cow location Vision system Actuator Controller - Desired cup location Motor and gears Robot arm and cup gripper Location of cup Process Cow and milker Milk Measurement Vision system Measured cup location DP1.5 A feedback control system for a robot welder: Controller Desired position Error - Process Computer and amplifier Voltage Motor and arm Weld top position Measurement Measured position Vision camera © 2017 Pearson Education, Inc., Hoboken, NJ All rights reserved This material is protected under all copyright laws as they currently exist No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher Full file at https://TestbankDirect.eu/ Solution Manual for Modern Control Systems 13th Edition by Dor Full file at https://TestbankDirect.eu/ 20 CHAPTER Introduction to Control Systems A control system for one wheel of a traction control system: DP1.6 Antislip controller Engine torque + Wheel dynamics + - - Wheel speed Sensor + Actual slip + 1/Rw Vehicle dynamics Sensor Vehicle speed Antiskid controller A vibration damping system for the Hubble Space Telescope: DP1.7 Controller Desired jitter = Rw = Radius of wheel T a his th nd wo o eir is rk w r sa co pro is ill le u vi pr de o rse de ot st f a s d s ec ro n an o te y y p d le d th a a ly by e rt ss fo U in o e r te f t ss th nite gr hi in e ity s w g us d S of or stu e o tat th k ( de f i es e in nt ns co w cl le tr p or ud a uc y r k an ing rnin tors igh d on g in t la is w D no the iss tea s t p W em ch er or in ing m ld a itt W tio ed id n e W eb ) Brake torque Measured slip - Error Computer - Actuators Gyro and reaction wheels Process Signal to cancel the jitter Spacecraft dynamics Jitter of vibration Measurement Measurement of 0.05 Hz jitter DP1.8 A control system for a nanorobot: Controller Desired nanorobot position Rate gyro sensor Error - Biocomputer Actuators Plane surfaces and propellers Process Nanorobot Actual nanorobot position Measurement External beacons Many concepts from underwater robotics can be applied to nanorobotics within the bloodstream For example, plane surfaces and propellers can © 2017 Pearson Education, Inc., Hoboken, NJ All rights reserved This material is protected under all copyright laws as they currently exist No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher Full file at https://TestbankDirect.eu/ Solution Manual for Modern Control Systems 13th Edition by Dor Full file at https://TestbankDirect.eu/ 21 Design Problems provide the required actuation with screw drives providing the propulsion The nanorobots can use signals from beacons located outside the skin as sensors to determine their position The nanorobots use energy from the chemical reaction of oxygen and glucose available in the human body The control system requires a bio-computer–an innovation that is not yet available For further reading, see A Cavalcanti, L Rosen, L C Kretly, M Rosenfeld, and S Einav, “Nanorobotic Challenges n Biomedical Application, Design, and Control,” IEEE ICECS Intl Conf on Electronics, Circuits and Systems, Tel-Aviv, Israel, December 2004 The feedback control system might use gyros and/or accelerometers to measure angle change and assuming the HTV was originally in the vertical position, the feedback would retain the vertical position using commands to motors and other actuators that produced torques and could move the HTV forward and backward T a his th nd wo o eir is rk w r sa co pro is ill le u vi pr de o rse de ot st f a s d s ec ro n an o te y y p d le d th a a ly by e rt ss fo U in o e r te f t ss th nite gr hi in e ity s w g us d S of or stu e o tat th k ( de f i es e in nt ns co w cl le tr p or ud a uc y r k an ing rnin tors igh d on g in t la is w D no the iss tea s t p W em ch er or in ing m ld a itt W tio ed id n e W eb ) DP1.9 Process Desired angle from vertical (0o) Error - Controller Measured angle from vertical Motors, wheels, etc HTV Angle from vertical Gyros & accelerometers © 2017 Pearson Education, Inc., Hoboken, NJ All rights reserved This material is protected under all copyright laws as they currently exist No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher Full file at https://TestbankDirect.eu/ .. .Solution Manual for Modern Control Systems 13th Edition by Dor Full file at https://TestbankDirect.eu/ CHAPTER E1.3 Introduction to Control Systems A microprocessor controlled laser system: Controller... reproduced, in any form or by any means, without permission in writing from the publisher Full file at https://TestbankDirect.eu/ Solution Manual for Modern Control Systems 13th Edition by Dor Full... reproduced, in any form or by any means, without permission in writing from the publisher Full file at https://TestbankDirect.eu/ Solution Manual for Modern Control Systems 13th Edition by Dor Full