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AutomaticControlIntroduction PDF

Automatic CONTROL of many day to day tasks relieves the human beings from performing repetitive manual operations. Automatic CONTROL allows optimal performance of dynamic systems, increases productivity enormously, removes drudgery of performing same task again and again. The first historical feedback system claimed by Russia was developed by Polzunov in 1975.

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ekremtabak
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61 views

AutomaticControlIntroduction PDF

Automatic CONTROL of many day to day tasks relieves the human beings from performing repetitive manual operations. Automatic CONTROL allows optimal performance of dynamic systems, increases productivity enormously, removes drudgery of performing same task again and again. The first historical feedback system claimed by Russia was developed by Polzunov in 1975.

Uploaded by

ekremtabak
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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2/26/2015

AUTOMATIC CONTROL

Yrd.Do.Dr. Haydar Bayar

LECTURE SOURCES
Control Systems Engineering, Sixth Edition
Automatic Control Systems, Third Edition
Otomatik Kontrol
Control Systems, Second Edition

Norman S. Nise

Benjamin C. Kuo
brahim Yksel
N.C. Jagan

2/26/2015

INTRODUCTION
This course introduces the basic concepts of control system. It includes
modeling of control systems in frequency and time domain, introduction of
transfer functions, study of time response, stability and steady-state errors.
Automatic control is essential in any field of engineering and
considered as integral part of robotic systems, space vehicle systems, modern
manufacturing systems etc.

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A manual control system for regulating the level of fluid in a tank


by adjusting the output valve. The operator is watching the level of
fluid through a port in the side of the tank.

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Why Automatic Control ?


Automatic control of many day to day tasks relieves the human beings from
performing repetitive manual operations. Automatic control allows optimal
performance of dynamic systems, increases productivity enormously, removes
drudgery of performing same task again and again.

Ctesibius's 285222 BC clepsydra (water thief)


In both Greek and Roman times, this type
of clepsydra was used in courts for
allocating periods of time to speakers. In
important cases, when a person's life was at
stake for example, it was filled. But, for
more minor cases, it was only partially
filled. If proceedings were interrupted for
any reason, such as to examine documents,
the hole in the clepsydra was stopped with
wax until the speaker was able to resume
his pleading.

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Polzunovs water-level float regulator 1765


The first historical feedback
system claimed by Russia was
developed by Polzunov in 1975.
Polzunovs water-level float
regulator employs a float that
rises and lowers in relation to the
water level, thereby controlling
the valve that covers the water
inlet in the boiler.

Watts Flyball Governor (18th century)


James Watt designed his first governor
in 1788 following a suggestion from
his business partner Matthew Boulton.
It was a conical pendulum governor
and one of the final series of
innovations Watt had employed for
steam engines. James Watt never
claimed the centrifugal governor to be
an invention of his own. Centrifugal
governors were used to regulate the
distance and pressure between
millstones in windmills since the 17th
century.
It
is
therefore
a
misunderstanding that James Watt is
the inventor of this device.

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Open-Loop Systems: A system in which the output has no effect on


the control action is known as an open loop control system. For a given input
the system produces a certain output. If there are any disturbances, the out put
changes and there is no adjustment of the input to bring back the output to the
original value. A perfect calibration is required to get good accuracy and the
system should be free from any external disturbances. No measurements are
made at the output.
Disadvantage of open-loop systems is that they are poorly equipped to handle
disturbances or changes in the conditions which may reduce its ability to
complete the desired task.

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We can define the main characteristics of an Open-loop system as being:

There is no comparison between actual and desired values.


An open-loop system has no self-regulation or control action over the output
value.

Each input setting determines a fixed operating position for the controller.
Changes or disturbances in external conditions does not result in a direct
output change. (unless the controller setting is altered manually)

2/26/2015

Closed-Loop Systems: These are also known as feedback control


systems. A system which maintains a prescribed relationship between the
controlled variable and the reference input, and uses the difference between
them as a signal to activate the control, is known as a feedback control system.
The output or the controlled variable is measured and compared with the
reference input and an error signal is generated. This is the activating signal to
the controller which, by its action, tries to reduce the error. Thus the controlled
variable is continuously fedback and compared with the input signal. If the
error is reduced to zero, the output is the desired output and is equal to the
reference input signal.

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Open Loop vs Closed Loop Control Systems


Open Loop Systems
Advantages
1. They are simple and easy to build.
2. They are cheaper, as they use less number of components to build.
3. They are usually stable.

4. Maintenance is easy.
Disadvantages
1. They are less accurate.
2. If external disturbances are present, output differs significantly from the desired
value.
3. If there are variations in the parameters of the system, the output changes.

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Open Loop vs Closed Loop Control Systems


Closed Loop Systems
Advantages
1. They are more accurate.
2. The effect of external disturbance signals can be made very small.
3. The variations in parameters of the system do not affect the output of the system
4. Speed of the response can be greatly increased.

Disadvantages
1. They are more complex and expensive
2. They require higher forward path gains.
3. The systems are prone to instability. Oscillations in the output many occur.
4. Cost of maintenance is high.

Feedback Control Systems

A feedback control system is represented as an interconnection of blocks


characterized by an input output relation. This method of representing a
control system is known as a block diagram representation.

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Feedback Control Systems

The input to the entire system is called as a reference input or a command


input, r(t). An error detector senses the difference between the reference input
and the feedback signal equal to or proportional to the controlled output. The
feedback elements measure the controlled output and convert or transform it to
a suitable value so that it can be compared with the reference input. If the
feedback signal, b(t), is equal to the controlled output, c(t), the feedback system
is called as unity feedback system.

Feedback Control Systems

The difference between the reference input and the feedback signal is
known as the error signal or actuating signal e(t), This signal is the input
to the control elements which produce a signal known as manipulated
variable, u(t). This signal manipulates the system or plant dynamics so
that the desired output is obtained. The controller acts until the error
between the output variable and the reference input is zero.

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Analog Signal
A signal is considered analog if it is defined for all points in time and if it can take any real
magnitude value within its range.
An analog system is a system that represents data using a direct conversion from one form to
another. In other words, an analog system is a system that is continuous in both time and
magnitude.

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Digital Signal
A signal or system is considered digital if it is both discrete-time and quantized.
Digital data always have a certain granularity, and therefore there will almost always be an
error associated with using such data, especially if we want to account for all real numbers. The
tradeoff, of course, to using a digital system is that our powerful computers can be instructed to
operate on digital data only. This benefit more than makes up for the shortcomings of a digital
representation system.

Continuous and Discrete


A system is considered continuous-time if the signal exists for all time. Frequently, the terms
"analog" and "continuous" will be used interchangeably, although they are not strictly the same.

Discrete systems can come in three flavors:

Discrete time (sampled)


Discrete magnitude (quantized)
Discrete time and magnitude (digital)

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