0. Administrative Topics

1. EE3511: Automatic Control Systems 0. Administrative Topics Dr. Ahmed Nassef Salman Bin Abdulaziz University

2. Textbook • Dorf and Bishop, Modern Control Systems 11th Ed. 2007 • References : • Ogata K., Modern Control Engineering, 3rd Ed. 1997. • Close, Frederick and Newell. Modeling and Analysis of Dynamic Systems, 3nd edition, John Wiley, 2002. • Norman S. Nice. Control Systems Engineering, John Wiley & Son, 4th Ed. 2003 Salman Bin Abdulaziz University

3. Grading Policy • Exam 1 (20%), • Exam 2 (20%), • Final Exam (50%), • HWs + Quizzes (5%) • Attendance & class participation (5%), penalty for late attendance • Note: No absence, late homework submission allowed without genuine excuse. Salman Bin Abdulaziz University

4. EE3511: Automatic Control Systems 1. Introduction to Control Systems Salman Bin Abdulaziz University

5. Why do we study control systems? Salman Bin Abdulaziz University

6. What do these two have in common? • Both are highly nonlinear, complicated dynamics! • Both are capable of transporting goods and people over long distances BUT • One is controlled, and the other is not. • Control is “the hidden technology that you meet every day” • It heavily relies on the notion of “feedback” Salman Bin Abdulaziz University

7. The Course Goal • Learn how to model, setup mathematical description, analyze and design linear control systems Salman Bin Abdulaziz University

8. Course ObjectivesThe students will learn to • model mechanical and electrical systems. • use Laplace transform to solve linear dynamical systems. • find transfer functions using signal flow graph • analyze the stability using Routh-Hurwitz method. • characterize transient and steady state response of linear systems. Salman Bin Abdulaziz University

9. Course Objectives (cont.) • analyze and design linear control systems using Root locus • PID controller Design • analyze, design controllers and simulate dynamical systems using MATLAB and SIMULINK. • implement controllers for pilot scale processes. In the Lab Salman Bin Abdulaziz University

10. Course Outlines • Introduction to Control Systems • Modeling of Dynamical Systems • Mechanical • Electrical • Laplace Transform • Review of complex variables • Laplace Transform, properties • Inverse Laplace Transform • Solution of Ordinary Differential Equations • Transfer functions Salman Bin Abdulaziz University

11. Course Outlines • Block Diagrams and Signal Flow Graphs • Block diagrams and manipulation • Signal Flow Graphs • Analysis of Control Systems • Test Signals: step, impulse, ramp , sinusoidal • Effect of feedback on transient response • Disturbance reduction • Effect of feedback on steady state error Salman Bin Abdulaziz University

12. Course Outlines • Time Response of Control Systems: • Time domain specifications in transient and steady state requirements • Response of first order systems • Response of second order systems • Response of higher order systems • Steady state analysis and error constants Salman Bin Abdulaziz University

13. Course Outlines • System Stability and Root locus: • Concept of stability • Routh-Hurwitz stability criteria • Stability of feedback control systems • Design Example • Introduction to root locus: concept and procedure. Salman Bin Abdulaziz University

14. Course Outlines • PID controller Design • Introduction to PID • Guidelines for PID design • Ziegler Nichols methods Salman Bin Abdulaziz University

15. EE3511: Automatic Control Systems 2. Introduction to Control Systems Salman Bin Abdulaziz University

16. The Course Goal • To be able to model, setup mathematical description, analyze and design linear control systems Salman Bin Abdulaziz University

17. Systems • Asystem is any set of interrelated components acting together to achieve a common objective. • Each system has a process (Plant), inputs and outputs inputs Process outputs (Plant) Salman Bin Abdulaziz University

18. Example • You could think of a car as a “system". The inputs are the positions of the steering wheel, gear shift lever, gas, brake and clutch pedals. The output is the position of the car. Salman Bin Abdulaziz University

19. Block Diagram Representation of Systems inputs Process outputs (system) Inputs are signals that affect the system variables Represented by arrows entering the system • Outputs are measured or calculated variables • Shown as arrows leaving the system Process represent the relationship between inputs and outputs Salman Bin Abdulaziz University

20. What is Control? • Control is a term that describes the process of forcing a system to behave in a desired way in order to achieve certain objective(s)/goal(s). • Control is the process of making a system variable adhere to a particular value, called the reference value. Salman Bin Abdulaziz University

21. Control Systems • A group of actions assembled in such a way to regulate some outputs at their desired levels. • used to increase productivity and improve performance of systems. Salman Bin Abdulaziz University

22. Control Engineering Now • Control Engineering is becoming an important field • Engineers from different disciplines (Electrical Mechanical, Aerospace, Chemical,…) are learning about control engineering • Applications continue to grow and spread Salman Bin Abdulaziz University

23. Control Systems in modern societies. • Control Systems Applications include • Petrochemical plants, • airoplanes, • cars, • air-conditioning systems • Weapons • …. Salman Bin Abdulaziz University

24. Biological systems use control systems • Control body temperature • Control the Glucose Level • Control is used to help us walk, move, see, write, play, Salman Bin Abdulaziz University

25. Techniques of control engineering have been used in many areas. • To control inflation • To control unemployment rate. Salman Bin Abdulaziz University

26. Classification of control Systems • Open loop –Closed loop • Linear-Nonlinear • Continuous-Discrete Salman Bin Abdulaziz University

27. input Control Element Correction Element process output Open loop Control Systems • An open loop control system consists of three basic components: • Control Element: Determines the action needed for the given input • Correction Element: initiate action to change the variable to be controlled • Process: the system of which a variable is being controlled Salman Bin Abdulaziz University

28. Closed Loop Control Systems • A closed loop control system consists of five basic components: • Comparison Element: Compares required value and actual value • Control Element: Determines the action needed based on the value of the error • Correction Element: produce the change in the process to reduce the error • Process: the system of which a variable is being controlled • Measurement Element: Produces a signal that represent the value of controlled variable Salman Bin Abdulaziz University

29. input Control Element Correction Element process output _ Measurement Element Closed Loop Control Systems Salman Bin Abdulaziz University

30. Closed Loop Control Systems • The variables associated with closed loop control systems are defined as • Controlled Variable: The variable that is measured and being maintained at a desired value (OUTPUT). • Manipulated Variable: the variable that is varied by the controller. • Feedback signal: The output of the measurement device • Set point: the input value applied to the loop. It is the desired condition to the controlled variable (INPUT). Salman Bin Abdulaziz University

31. Example • Back to the car example. You could think of yourself as the controller. You alter the manipulated variables signals (the positions of the steering wheel, pedals, etc) so that the car follows a desired trajectory (controlled variable). Salman Bin Abdulaziz University

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33. Feedback Control System • In general • Main Components: • Plant: Process + Actuator • Controller • Sensor • Disturbance Salman Bin Abdulaziz University

34. Control Systems in Nature • Pancreas: • regulate blood sugar. • Adrenalin • automatically generated to increase heart rate and oxygen intake in times of flight. • Eyes • able to follow a moving object. • Hand: • able to pick up an object and place it at a predetermined location Salman Bin Abdulaziz University

35. EE3511: Automatic Control Systems 3. Control Engineering Design and Examples of Modern Control Systems Salman Bin Abdulaziz University

36. Fly Ball Governor • Invented by James Watt in 1769 Steam Turbine Close valve Open valve Steam Steam Salman Bin Abdulaziz University

37. Fly Ball Governor • Example of early control systems • With fly ball governor Watt’s steam engine become safer and more practical • As speed increases  the balls move away from the center  the lever moves up  the valve is closed  less steam goes to the turbine  speed decreases  the balls move to the center  the lever moves down  the valve is open  speed increases Salman Bin Abdulaziz University

38. Water Level Float Regulator • Invented by Polzunon in 1765 Steam Float valve Water Feed Salman Bin Abdulaziz University

39. Role • Automation/Control systems engineers are concerned with understanding and controlling segments of their environment (Systems) to provide useful economic products for society Salman Bin Abdulaziz University

40. Activities • Understanding • Modeling • Designing • Testing • Implementation • Monitoring Salman Bin Abdulaziz University

41. Automation impact • PRODUCTIVITY and to obtain high-quality products • Material handling • Safety and Security • Etc… Salman Bin Abdulaziz University

42. Foundation/knowledge • Feedback theory • Linear system analysis • Knowledge • Network theory • Communication theory • Reliability and maintenance theory • Safety theory Salman Bin Abdulaziz University

43. Definition • A control system is an interconnection of components forming a system configuration that will provide a desired system response. Salman Bin Abdulaziz University

44. Open-Close-Multivariable Salman Bin Abdulaziz University

45. Effect Cause Process Output Input Usual Representation • Every component (or process) can be represented by a block • SISO: Single input Single output Salman Bin Abdulaziz University

46. Process Actuator Output Desired Output response Usual Representation • SIMO: Single input multi-output • MISO: • MIMO: Salman Bin Abdulaziz University

47. Process Actuator Output Desired Output response Open-Loop Control System • An open-loop control system utilizes an actuating device to control the process directly without using feedback. Salman Bin Abdulaziz University

48. Open loop system Salman Bin Abdulaziz University

49. Comparison Process Actuator Desired Output Output Measurement Close-Loop Feedback Control • A close-loop system uses a measurement of the output and feedback of this signal to compare it with the desired output (reference or command) contoroller Salman Bin Abdulaziz University

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