Lesson 1: Introduction to Control

Systems Technology
ET 438a
Automatic Control Systems Technology

1 lesson1et438a.pptx
 Learning Objectives
After this presentation you will be able to:

 Explain the function of an automatic control

system.
 Identify a block diagram representation of a
physical system
 Explain the difference between an open loop
and closed loop control system
 Define a transfer function and compute the
gain for sinusoidal input/output cases.
 Reduce block diagram systems using algebra.

2 lesson1et438a.pptx
 The Control Problem
Fundamental Control Concepts
Maintain a variable of process at a desired
value while rejecting the effects of outside
disturbances by manipulating another
system variable.

Examples:
Heating and Cooling homes and offices
Automobile cruise control
Hold the position of a mechanical linkage
Maintain level in a tank

h Qout depends on h
If Qout = Qin, h constant
Qout > Qin, tank empties
Qout < Qin, tank overflows
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 Basic Subsystems of Control
Feedback Control Subsystems
Measurement
Control decision
System modification

Measurement
- sight glass

Control Decision
Human adjusts Qout
to maintain h =H

Reference
(setpoint)
h = control Process-
Final Control
variable Maintain tank
Element
level
4 lesson1et438a.pptx Valve
 Automatic Control Systems
Use sensors and analog or digital electronics to monitor and adjust system
Level
Measurement Elements of Automatic Control
Sensor Process – single or multiple
variables
Measurement – sensors
Controller
Error Detection – compare H to
h
Final control Controller – generate corrections
element Final Control Element – modify
process

Valve
Maintain Position
5 lesson1et438a.pptx level
 Block Diagrams
Automatic control systems use mathematical descriptions of
subsystems to reduce complex components to inputs and
outputs

Input signal Control System Output signal

Component

Energy
Source
(Optional)
Signals flow between components in system based on arrow direction

6 lesson1et438a.pptx
 Typical Component Block Diagrams

T (°C) Vin (V)

Temperature
Amplifier
Sensor
Vout (mV) Vout (V)

Valve Position
(% Open)
Control
Dc Motor
Valve
Armature V n (rpm) Liquid Flow
Va (V) (m3/s)

Error
L (ft) E (V)
Level Controller
Transmitter
Current Correction
(mA) V (V)

7 lesson1et438a.pptx
 Transfer Functions
Transfer function - ratio of the output to the input of a control
system component. Generally a function of frequency and time.

A∙sin(wt+a) B∙sin(wt+b)
G
Block
Gain

Convert to phasors B Output Signal B B

G      
and divide A Input Signal A A

Phase shift related to time

delay
8 lesson1et438a.pptx
 Transfer Functions
Examples
Example 1-1: Find transfer function of temperature sensor in block diagram

T (°C) Output Signal Vout

Temperature G  mV/C
Sensor Input Signal T
Vout (mV)

Example 1-2: a current-to-voltage converter takes an input of 17.530° mA and produces

an output of 8.3537° V Determine the transfer function gain and sketch the block diagra

I in  17.530 mA
Iin (mA) I-to-V
Vo  8.3537 V 
Converter
Output Signal V o 8.3537 V G Vout (V)
G    V/mA
Input Signal Iin 17.530 mA
G  0.4777  V/mA

9 lesson1et438a.pptx
 Open-Loop Control
Open loop control modifies output based on predetermined
control values. There is no actual measurement of controlled
quantity.

Controller Tank level may

vary with outside
Final control disturbances and
element system changes

Valve Output Tank

setting flow Level
Control
Controller Tank
Valve

10 lesson1et438a.pptx Disturbances
 Closed Loop Control
Closed loop control modifies output based on measured values
of the control variable. Measured value compared to desired
value and used to maintain desired value when disturbances
occur. Closed loop control uses feedback of output to input.
Desired Valve Output
Value setting flow Tank
Level
Control
Controller Tank
+ Valve
-

Level
Measuremen
t

Measured
level
11 lesson1et438a.pptx
 Closed Loop Control
Example: Auto Cruise Control Disturbances
Mechanica
Fuel
l
flow
Power Actual
Set Speed Speed
Controlle Fuel
Engine Auto
+ r Injectors
-

Error
Speed
Sensor

Disturbances: Up hill/ down hill

Head wind/ tail wind

12 lesson1et438a.pptx
 Generalized Closed Loop Control
Block Diagram of Servo Control-Example Positioning Systems

R E=R-Cm Controller C
+ G=C/E
-

Cm Measurement
H=Cm/C

Reference = R Measured Variable = Cm

Error = E
Controlled Variable = C
13 lesson1et438a.pptx
 Generalized Closed Loop Control
Find overall transfer function using signal flow algebra

(Input)(Gain)=(Output)
C
For servo control Find
R
Cm
1 E  R C m 3 H  C  H  Cm
C

2 C
G  EG  C 1 3 E  R C m H E
E

(R  C  H)  G  C
14 lesson1et438a.pptx
 Overall Transfer Function-Servo Control
C
Find
R
(R  C  H)  G  C 1 2 3

R G -CHG  C Multiply through by G

R G  C  CH G Add CHG to both sides

R  G  C  (1  G  H) Factor C out of right hand side

R G
C Divide both sides by (1+GH)
(1  G  H )
G C
 Divide both sides by R
(1  G  H ) R

15 lesson1et438a.pptx
 Generalized Closed Loop Control
Block Diagram of Process Control-Example Chemical Reactors
E=R-
SP Cm Control V Manipulate M Process
C
Modes d Variable
+ Gp=C/M
- Gc=V/E Gm=M/V

Cm Measurement D=Disturbances
H=Cm/C

Setpoint = SP Measured Variable = Cm

Error = E
Manipulated Variable = M
Controlled Variable = C
16 lesson1et438a.pptx Controller Output = V
 Overall Transfer Function- Process Control
Find overall transfer function of process control using signal flow algebra

V M C
Series blocks multiple Gc  Gm  Gp 
E V M

V  M  C 
G  Gc  Gm  Gp     
E   V  M
C 
G  
E 

Find overall transfer function Cm/SP C not directly

measurable in process control
17 lesson1et438a.pptx
 Overall Transfer Function- Process Control
Cm
As before E  SP  Cm Cm  H  C  C
H
GE  C
G  (SP  C m )  C Substitute in for E
Cm
G  (SP  C m )  Substitute in for C eliminate it
H
G  H  (SP  C m )  C m Multiple both sides by H
G  H  SP  G  H  C m  C m Multiple L.H. side by GH
G  H  SP  C m  G  H  C m
Add GHCm to both sides
G  H  SP  C m  (1  G  H )
Factor Cm from right side
G  H  SP
 Cm Divide both sides by (1+GH)
1 G  H
GH C
 m Divide both sides by SP
1  G  H SP
18 lesson1et438a.pptx
 Control System Drawings
Industrial system standard ANSI/ISA-S5.1-1984 Uniform designation for
Instruments, instrument systems and control.
Functional
Identifier Instrument Line Symbols
3-15 psi
Loop pneumatic
Identifier line
General Instrument
Symbol 4-20 mA
electric
First ID Letter Following ID Letter current
A = Analysis C= Controller
L = Level I=Indicator
Filled
T = Temperature R=Recorder
System
T= Transmitter Capillary
V = Valve
Y = Relay/Converter
lesson1et438a.pptx 19
 Control System Drawings
Water Syrup
Supply Supply
Lo 101 =level control
10 op
LV

1
101 102 = temperature control
I/P 103 = concentration
Current to
LY
101
control
4-20 mA
Pneumatic AV
Converter 103 current
LIC LT
101 101

Concentration
Valve
Heating Fluid ARC
Supply 103
TV
102 Concentration
Lo Recorder/Control
op
103
AT Syrup
op Heating Fluid
Lo 2
103 Concentration
Return
Concentration
10
TIC TT
102 102
Transmitter
Heated Product

Temperature Transmitter
Temperature
20 lesson1et438a.pptx Indicator/Control
 Linear and Non-linear Response
Linear Response
2

2
Output

Output
0
2
1 0.5 0 0.5 1
Input

2
15 10 5 0 5 10 15
Linear transfer functions give proportional Time
outputs. In this case the factor is 2 Input
Output

21 lesson1et438a.pptx
 Non-linear Response
Saturation Non-Linearity
1

Saturation Non-Linearity

Input Signal
10 0
Output

0
1
15 10 5 0 5 10 15
Time
Input Signal
10

3 2 1 0 1 2 3 Saturation Non-Linearity
Input 1

Saturation non-linearity typical of practical systems

that have physical limits. Amplifiers, control valves Output Signal
0

1
15 10 5 0 5 10 15
Time
22 lesson1et438a.pptx Output Signal
 Other Non-Linearities
Hystersis Non-Linearity General Non-Linearity
2 40

1 20
Output

Output
0 0

1
20

2
4 2 0 2 4 40
Input 3 2 1 0 1 2 3
Input

Typical in magnetic circuit and in Non-linearities cause distortion in sine waves

instrumentation transducers response that is not proportional to inputs value
for all signal values.

23 lesson1et438a.pptx
 Block Diagram Simplifications
R + C R C
G C G

- R 1 G  H

H
Block diagram at left simplifies to the above.
Can use this to reduce multiple loops into one
Block.
Also remember that blocks in series multiply
G  G1  G 2  G 3

G1 G2 G3 G1G2G3

Equivalent Block

24 lesson1et438a.pptx
 Block Diagram Simplification Example
R + C
+
G1 G2 G3
- - C1
R1
H1

H3 H2

C1 G2 H
 Reduce the inner loop
R 1 1  G 2  H1
H  H 2  H3 Combine outer feedback block

Combine reduced inner loop with remaining forward gain blocks

25 lesson1et438a.pptx
 Block Diagram Simplification Example (1)
R + G2 C
G1 G3
- 1  G 2  H1

H=H2H3

 G2   G1  G 2  G 3 
G  G1    G
 3    Compute the value of G
1  G 2  H1  1  G 2  H 1 

 G1  G 2  G 3 
 1 G  H 
C G  1 
  2

R 1 G  H  G1  G 2  G 3  Substitute the values of G and H into formula

1    H 2  H 3 and simplify
 1  G 2  H 1 

26 lesson1et438a.pptx
 Block Diagram Simplification Example (2)
 G1  G 2  G 3 
 1 G  H 
C G  1 
  2

R 1 G  H G G G 
1   1 2 3   H 2  H3
 1  G 2  H1 

Multiply top and bottom of ratio by (1+G2H1) and simplify

 G1  G 2  G 3 
 1  G  H   1  G 2  H1 
C  1  G1  G 2  G 3
 2

R   G1  G 2  G 3    G1  G 2  G 3  H 2  H 3 
1  
  H
 2 3 H    1  G  H   1  G 2  H1    1  G 2  H1    
  1  G 2  H 1  
2 1
 1  G 2  H 1 

C G1  G 2  G 3
 Answer
R 1  G 2  H1  G 1  G 2  G 3  H 2  H 3

Reduced R G1  G 2  G 3 C
block 1  G 2  H1  G 1  G 2  G 3  H 2  H 3

27 lesson1et438a.pptx
 End Lesson 1: Introduction to
Control Systems Technology
ET 438a
Automatic Control Systems Technology

28 lesson1et438a.pptx