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Introduction
Any system can be describes by a set of differential equations or can be represented by the schematic diagram containing all components and their connections.
Transfer Function
Variables
Variables are represented by arrows in block diagrams Variables correspond to a physical and measurable quantity
Example: suppose youre modeling a process for
producing a dye for clothing You must have a way of quantifying the dye color!
Physical units
Determining the physical units of some quantities is not a trivial task! Example - setting the desired speed in the cruise control system This is actually an electrical signal in volts, but can we still call it MPH? It depends on what youre looking at how the vehicle speed will vary on a steep slope vs. the function of the cruise control electronics
Processes
Process
Processes must have at least one input variable and at least one output variable
Processes
glucagon (mg/dl)
insulin (mg/dl) Tissues
Glucose (mg/sec)
Processes
Glucagon Insulin
Measurement Processes
Processes that measure system outputs are called sensors Input is physical property (MPH, mg/dl, etc.) Output is electrical or mechanical signal Typically model output to have units of input
Actual speed Measured speed
Speedometer
Many systems measure their output and use this measurement to control system behavior This is known as feedback control the output is fed back into the system The summing junction is a special process that compares the input and the feedback Inputs to summing junction must have same units!
input process output
sensor
Summing point
Parallel Systems
Input is the output we want the system to have Summing junction subtracts the measured output from the desired output, difference is error signal Controller acts based on magnitude of error signal Actuator provides external power to system and effects changes based on controller output Plant is the process we are trying to control
desired output
controller actuator plant
output
sensor
This is a general model, and may not be the same for every feedback control system Systems can have additional inputs known as disturbances into or between processes Can combine processes; typically controller and actuator are combined Describe and draw schematic, then recast your model into this form if possible
desired output
controller actuator plant
output
sensor
input: desired speed output: actual speed error: desired speed minus measured speed disturbance: wind, hills, etc.
controller: cruise control unit actuator: engine plant: vehicle dynamics sensor: speedometer
wind, hills
desired speed
cruise control
engine
vehicle
actual speed
speedometer
input: desired blood glucose output: actual blood glucose error: desired minus measured blood glucose disturbance: eating, fasting, etc.
controller: a and b cells actuator: glucose storing or releasing tissues plant: glucose metabolism sensor: a and b cells (again)
eating, fasting
desired glucose
a&b cells
glucose tissues
glucose metabol.
actual glucose
a&b cells
Thermostat Example
Set thermostat to desired room temperature Thermostat measures room temperature Furnace or AC turn on if measured <> desired Air from furnace or AC changes room air temperature
external air
desired temp.
thermostat
furnace or AC
room air
actual temp.
thermostat
Float height determines desired water level Flush empties tank, float is lowered and valve opens Open valve allows water to enter tank Float returns to desired level and valve closes
flush
desired level
float
valve
water tank
actual level
float