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ENGR 4220/5220:

Control Systems
Rick Hill, PhD
Dept of Mechanical Engineering

Lecture 1: Overview and


Intro
Introduction to the control system
design process
Control system example
ENGR 4220/5220 Lecture 1

open loop vs. closed loop

Introduction to modeling
Solving differential equations
Free response
Forced response

Control System Design


Process

Translate

types of models
physical vs.
empirical
mathematical
graphical

physical
system

Plant
Design (and
Constructio
n)

purpose of models
analysis
design
verification

diagrams
math
Model

behavior
Analyze

types of analysis
time domain
frequency domain
simulation
hardware in the
loop (HIL)

control
system
Controller
Design

types of control
supervisory
logic control
on/off control
P, PI, PD, PID
advanced
techniques

ENGR 4220/5220 Lecture 1

customer
input / govt
eng specs
regulations

Control System Example

desired
speed

Control
Engin
Algorith
e
throttle
m
force
angle
(voltage)

Car

ENGR 4220/5220 Lecture 1

Cruise Control Example

actual
speed

Open-loop Control
[feedforward]

desired
speed

advantages
simple to design
inexpensive
doesnt affect
stability
fast response

wind force,
gravity force

Control
Engin
Algorith
e
+
throttle
m
force
angle
(voltage)

Car

ENGR 4220/5220 Lecture 1

disadvantages
sensitive to errors
in model
sensitive to
disturbances
needs periodic
recalibration

actual
speed

Closed-loop Control
[feedback]
advantages
robust to errors
in model
robust to
disturbances

D wind force,
gravity force
CONTROLLER
ACTUATOR
PLANT
Control
R + E
-U
Engin
Algorith
Car
e
+
desired throttle
m
force
speed
angle
(voltage)
SENSOR
measured
speed

Speedomete
r

ENGR 4220/5220 Lecture 1

disadvantages
extra complexity
extra cost
can affect stability
can be slow to
respond

Y
actual
speed

Introduction to Modeling
A model is an abstraction of the
physical world
ENGR 4220/5220 Lecture 1

Used for analysis and design,


possibly before physical system
exists
Can be obtained from first principles
or experimentally
Purpose determines level of
abstraction, form
Complex enough, but no more

Model Derivation

ENGR 4220/5220 Lecture 1

From first principles


Use physical laws to derive
models
Provides understanding
Can use empirical data to
determine parameters, validate
model
8

Model Derivation
From empirical data

ENGR 4220/5220 Lecture 1

Feed a known input and observe output, fit model


to data

SYSTEM

Good for complicated systems (IC engine, battery)


Good for black-box systems (driver model)
Does not provide intuition, cant be widely applied

Complexity Depends on
Purpose
Simple enough to generate closed-form
solution
Less accurate, but provides intuition

di
K b& ea
dt
&
T b& J&
Ra ia La

ENGR 4220/5220 Lecture 1

Design/analysis model: simpler

10

Complexity Depends on
Purpose
Simulation model: more accurate

Static Systems

Dynamic Systems

Output is determined
only by the current
input, reacts
instantaneously
Relationship does not
change (it is static!)
Relationship is
represented by an
algebraic equation

Output takes time to


react
Relationship changes
with time, depends on
past inputs and initial
conditions (it is dynamic!)
Relationship is
represented by a
differential equation

input

SYSTEM

output

ENGR 4220/5220 Lecture 1

Static vs. Dynamic


Systems

12

Static vs. Dynamic


Systems
Motor from a Static
Motor from a Dynamic
Viewpoint

Viewpoint

500
450

400

Tstall

300
250
200
150

torque

100
50
0

ea1

0.5

1.5
Time

2.5

ea2

no-load
speed

Motor Torque

13

ENGR 4220/5220 Lecture 1

Motor Speed

350

0.5

1.5
Time

2.5

Solving Differential
Equations
Homogenous differential equations

Righthand side of equation equals 0


Represents free response of system
Solution consists of exponentials
1t

x(t ) a1e a2e

2t

where exponents are roots of the


characteristic eq.

ENGR 4220/5220 Lecture 1

& bx& kx 0
mx&

14

Solving Differential
Equations
Homogenous differential equations

& bx& kx 0
mx&
m b k 0
2

Roots can be found from the quadratic


formula

1,2

b
b 4km

2m
2m
2

ENGR 4220/5220 Lecture 1

For the above, the characteristic equation is

15

1t

2 t

displacement, x

Recalling thatx (t ) a1e a2 e


If the roots are completely real, then
the solution is exponential
If all negative, stable
If any positive, unstable

ENGR 4220/5220 Lecture 1

Solving Differential
Equations

16

time

Solving Differential
Equations
If the roots are complex, then can
rewrite in sines and cosines using
Eulers identity:
jt

Therefore,

cos t j sin t

a1e

( d j ) t

a1e
e

a2 e

t d jt

( d j ) t

a2 e

t d jt

( A cos d t B sin d t )

ENGR 4220/5220 Lecture 1

17

Solving Differential
Equations
( A cos d t B sin d t )

Above follows when have complex roots


of char. eq.
d j
real part = rate of decay (growth)
imag part = freq of oscillation

ENGR 4220/5220 Lecture 1

x(t ) e

18

Solving Differential
Equations
Forced differential
equations

Solution consists of two


xparts
(t ) xh (t ) x p (t )

xh is the homogenous solution


- same form as before, natural response of
system

xp is the particular solution


- generally same form as F(t), due to the
input

ENGR 4220/5220 Lecture 1

& bx& kx F (t )
mx&

19

xh determined from characteristic equation

Example

where 2 +8 +25=0 has roots 1,2 4 3 j

and x p has same form as F (t )

&
x& 8 x& 25 x 2t
has a solution of the form

x(t ) e

4 t

( A cos 3t B sin 3t ) at b
xh(t)

xp(t)

where
the homogenous portion dies out
(transient)
the particular portion remains (steady
state)

Example
Consider other types of forcing
functions:

&
x& 8 x& 25 x 5

x(t ) e 4t ( A cos 3t B sin 3t ) a

&
x& 8 x& 25 x 3e

x(t ) e

4 t

2 t

( A cos 3t B sin 3t ) ae

2 t

&
x& 8 x& 25 x 5sin 2t
x(t ) e

4 t

( A cos 3t B sin 3t ) a sin(2t )


C cos 2t D sin 2t

Example
Find the solution x(t) forx& 3 x 0, x(0) 5

Example
2 t
&
x

3
x

e
, x(0) 5
Find the solution x(t) for

Example (continued)

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