Lecture Notes

System dynamics and controls

Instructor: Dr. Nguyen Duy Anh Department of mechatronics Faculty of Mechanical Engineering Ho Chi Minh City University of Technology Email: duyanhnguyen@hcmut.edu.vn duyanhkmu@yahoo.com duyanhkmu@gmail.com Link: http://e-learning.hcmut.edu.vn/
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Course objectives

This course is about

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Learning outcomes
Upon completion of this course, students will understand about this knowledge: Mathematically model mechanical and other systems and determine their response characteristics based on the physical properties of the system; Critically analysis the response characteristics and attribute it them to the physical properties of the system; Understand what responses are considered stable and unstable, and how this affects the performance of the system; Demonstrate an ability to design controllers and meet specifications according to mathematical models and simulation results Develop engineering and physical insights into how systems respond or how a controller has modified the behavior of a system. Understand the conceptual and mathematical of PID controller. Implement, understand and appreciate mathematical tools such as Root Locus techniques and Bode diagrams which assist in designing controllers that control the mechanical system to the desired specifications given external disturbances. Design a feedback control system given only a description of the physical properties of the mechanical system, desired specifications and the likely disturbances.
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Course outline

Chapter 1: Element and the automatic systems Chapter 2: Transfer function of control systems Chapter 3: The stability of Linear feedback systems Chapter 4: The Root Locus Method Chapter 5: System Dynamics Chapter: 6: Modeling in State space Chapter 7: Design of continuous control system Chapter 8: Design of PID controllers

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Textbook

Textbook: Katsuhiko Ogata, Modern control engineering, 5th, Prentice Hall Nguyen Thi Phuong Ha, Huynh Thai Hoang, Automatic Control Theory, Viet Nam National Publication- Ho Chi Minh City, 2006 Reference: 1. Huynh Thai Hoang slide lecture notes - (pdf file) 2. Modern control engineering-5th-Ogata (pdf file) 3. Modern control systems 12th Richard C. Dorf (pdf file) 4. Dynamic modeling and control of engineering systems third edition, Bohdan T.Kulakowski (pdf file) 5. Control system applications second edition, William S.Levine (pdf file) 6. Control system Engineering sixth edition, Norman S.Nise (pdf file)

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Grading
DESCRIPTION Class participation (1.8 points total-18% of your grade) TOTAL POINTS AVAILABLE BY PERFORMANCE 0.8 points Attendance plus participation in case (8% of your grade) 1.0 points participation in case exercises and critiques, impromptu presentation (10% of your grade) Homework 1: 0.7 point (7% of your grade) Homework 2: 0.7 point (7% of your grade) Homework 3: 0.8 point (8% of your grade) Presentation homework: 1.0 point (10% of your grade) Maximum 2.0 points Maximum 0.5 point for each student feedback on teaching. Student feedback on teaching - chapters 1-2

Home works (3.2 points total -32% of your grade)

Mid-Term examination (4 student feedback on teaching)( 2.0 points-20% of your grade)

Student feedback on teaching - chapters 3-4

Student feedback on teaching - chapters 5-6 Student feedback on teaching - chapters 7-8 Final examination (3.0 points-30% of your grade) maximum 3.0 points

OVERALL 10 total points

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Element and the automatic systems

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Topics

What is control system ?

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Control system
Antenna azimuth position control system

System concept
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Control system
Antenna azimuth position control system

Detailed layout
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Control system
Antenna azimuth position control system

Schematic
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Control system
Antenna azimuth position control system

Function block diagram

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Control system
Antenna azimuth position control system

Response of a position control system

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Open-Loop systems

Student give example open-loop systems

Block diagram of control systems: open-loop system Open-loop systems do not monitor or correct the output for disturbances; however, they are simpler and less expensive than closed-loop systems
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Closed-Loop systems
Student give example Closed-loop systems

Block diagram of control systems: Closed-loop system Closed-loop systems monitor the output and compare it to the input. If an error is detected, the system corrects the output and hence corrects the effects of disturbances
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Control systems analysis and design focuses

Producing the desired transient response Reducing steady-state errors Achieving stability

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Components of a control system

Student give example Closed-loop systems

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The Design Process

Step 1: Determine a physical system and specifications from requirements

Step 2: Draw a functional block diagram

Step 3: Represent the physical system as a schematic Step 4: Use the schematic to obtain a mathematical model, such as a block diagram Step 5: Reduce the block diagram

Step 6: Analyze and design the system to meet specified requirements and specifications that include stability, transient response, and steadystate performance
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Computer-Aided design

Using Matlab and Control system toolbox to simulation

Using Solidwork or Catia or Autodesk Inventor to animation systems

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Reference

Reference: 1. Huynh Thai Hoang slide lecture notes - FundCtrlSys_Chapter1 (file) 2. Modern_Control_Engineering-5th-Ogata (file ) 3. Modern Control systems 12th Richard C. Dorf (file)

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