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Basic Info.
SCA
(Summer, Autum 2020A) • Course credits: 10.5
• Course hours:
108 hrs = 81 hrs lectures + 27 hrs labs
Instructor: M. en I. A. Raymundo Hernández Bárcenas • Grading:
• 1 & 2 partials:
Email: rayhb.max@gmail.com homework - 10%
lab - 20%
exam - 70%
partial 3:
investigations - 20%
project – 40%, exercises – 40%
Basic Info.
Basic Info. • Computer tool:
• Books and references: MATLAB with control
Available from bookstore and library toolbox
– a high-level language and
“Automatic Control Systems”, Benjamin C. Kuo & F. interactive environment
Golnaraghi – enables you to perform
computationally intensive tasks
faster than C, C++, and Fortran
“Modern Control Engineering”, Katsuhiko Ogata – a powerful tool for control
system designers
“Feedback Control of Dynamic Systems”, Gene F.
Franklin et al
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A brief A brief
history of – Fly-ball governor (James history of – Fly-ball governor (James
Watt,1789) Watt,1789)
control control
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Controller
4.Controller: an agent that can Block diagram of a control system
calculate the required control signal. n Disturbance
r e u y
Controller Actuator Plant
Expected Controlled
5.Actuator: a mechanical device that value - Error variable
Actuator
takes energy, usually created by air,
electricity, or liquid, and converts that
Sensor
into some kind of motion.
lead-out point:
6.Sensor : a device that senses a comparison component Here, the signal is
Sensor physical quantity and converts it into a (comparison point) : transferred along
signal which can be read by an observer its output equals the two separate routes.
or by an instrument. algebraic sum of all input The Block represents
signals. the function and name of its
7.Disturbance: the unexpected factors corresponding mode, we don’t
disturbing the normal functional “+”: plus; “-”: minus need to draw detailed structure,
Disturbance
relationship between the controlling and and the line guides for the transfer route.
controlled parameter variations.
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• The output is neither measured nor fed back for – Traffic signals
comparison with the input.
• For each reference input, there corresponds a fixed
operating conditions; the accuracy of the system
Note that any control systems
depends on calibration.
that operates on a time basis
• In the presence of disturbances, an open-loop system are open-loop.
will not perform the desired task.
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Example 1 : Example 2:
flush toilet Cruise control
Plant: water tank
mv bv ueng uhill
Input: water flow
Output: water level h(t ) ueng k (vdes v) Disturbance
lever
Expected value: h0 Road grade uhill
Sensor: float h0 Desired Control Actual
Controller: lever velocity vdes signal
Calculation Auto velocity v
Actuator: piston Engine
element body
Reference Error ueng Controlled
Controller Actuator Plant input variable
Controller Actuator Plant
h0 q1 (t ) Water h(t )
Lever Piston
Tank Sensor
Speedometer
Measured
Float velocity
Sensor Sensor noise
Disturbance
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mv bv uengine uhill • There are limits on how high the gain k
uengine k (vdes v) can be made.
Stability/performance
vss vdes as k – when dynamics are introduced, the
Steady state velocity approaches desired velocity as k → ∞;
Smooth response: no overshoot or oscillations
feedback can make the response worse
Disturbance rejection than before, or even cause the system
Effect of disturbances (eg, hills) approaches zero as k → ∞ to be unstable.
Robustness
Results don’t depend on the specific values of b, m or k, for k
sufficiently large
– make system insensitive to variations – couple noise from sensors into the
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Classification
of control
Thinking time… systems
Examples of open-loop
control and closed-loop 1. According to
control systems ? structure
Classification Classification
of control of control
systems systems
2. According to 3. According to f ( x1 ) y1 f ( x2 ) y 2
reference input system superposition principle
characteristics f ( x1 x2 ) f ( x1 ) f ( x2 ) y1 y2
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