Chapter 1

Introduction

Speed Control System

(James Watt, 1769)

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MAAE4500: Feeback Control

Water-level Float Regulator

(I. Polzunov, Russia, 1765)

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Control Systems Development

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Closed- and Open-loop Systems

Closed-loop or feedback control systems
A system that maintains a prescribed relationship
between the output and a reference input signal in
the presence of disturbances
A control signal is generated by the controller and
added to the disturbances to correct the system
response

Open-loop systems
Systems for which the output signal has no effect
on the control signal
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Closed- and Open-loop Systems

Open Loop control has:

Simpler implementation
Lower cost
No stability issue
Convenience with hard-to-measure outputs

But has issues:

Prone to errors in the presence of disturbance
Prone to system parameter uncertainty

Therefore:
feedback control is used (ex: position control)
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Closed- and Open-loop Systems

Feedback controls three elements:
Sensors, Actuators, Control law (implementation options)

Feedback structure:
Ref.
input

e (error)

d (disturbance)
y (output)

u (input)
Plant

Control

Sensor
v
(measurement noise)
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Closed-loop (Human Feedback) Control

controller

actuator

plant/process

output

input
sensors

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Closed-loop (Automatic Feedback) Control

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Examples: Controls in Robotics

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Research example: Robot for Wind Tunnel

Robot Manipulators optimal
planning and control
Multiple control loops
Aerodynamic disturbance
Plant variations &
nonlinearities
Redundancy and
optimality
Etc.

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Research example: Robotic Welding

Robot force and position control
Nonlinear process
Adaptive control
Multiple control loops:
position, force, speed,
temperature, etc.

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Research examples:Biomechatronics
Robotic locomotion

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Research examples:Biomechatronics
Robotic locomotion

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Research examples: Mechatronic Systems

Embedded computer control systems

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Structure of Computer-Controlled Systems

Mechanical System
To be controlled
user

Sensors

Input
Devices

Signal
Conditioning
A/D, Filter

User
Interface

Actuators

Signal
Conditioning
D/A, Amp.

Control
Algorithm

Digital Controller (computer)

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General representation of signals in a feedback system

plant
disturbance
signal

vibrations
sensor signal

control
output
signal

measurement
noise
controller

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To do for next week

Review your past material on systems including
Laplace Transforms and related theorems. This is
very5 important
Review the feedback control concept by trying to
find a few real-life problems. Devise it into
elements involved in a control system. You should
be able to find numerous examples.

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