Simulation, Block Diagrams, and Feedback Control

Prof. R.G. Longoria Updated Fall 2009

ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering The University of Texas at Austin

Overview
Using block diagrams to describe system model equations How block diagrams are used in practice LabVIEW implementation quick demo Feedback control concepts NOTE: Some of these slides were/are covered in lecture, others are for information only.
ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory Department of Mechanical Engineering The University of Texas at Austin

Example: Sphere in free fall

g Newtons Law: dp =

dt p = Fd Fb + mg

F;

p mV

p = mV = K dV 2 gVs + mg
V
Forces:

Kd 2 V = V g+g m s
1 g D 3 6
You can choose p (momentum) or V (velocity) as your state variable. Here we choose velocity.

1 Fd = drag = CD AsV 2 2 Fb = buoyancy = gVs =

ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering The University of Texas at Austin

Sphere in free fall block diagram

Simplify for formulation of a block diagram:

V = V 2 +

= g (1 s )
x =V

= K d m = CD As 2m

NOTE: The ANALOG diagram shown here is a model that is now implemented in many commercial block diagram simulation languages. This is a computational diagram that embodies the mathematical model. This is also a form used in feedback control diagram descriptions.
ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory Department of Mechanical Engineering The University of Texas at Austin

Block diagram algebra

A pictorial representation of the functions performed by each component and of the flow of signals. Basic functions: gains, summers, integrators, etc. Lines between blocks are signals, and blocks are operators on the signals. Can be used for linear or nonlinear dynamic systems and controls descriptions.
ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory Department of Mechanical Engineering The University of Texas at Austin

Block Diagram Algebra

Summing point

+ b

a b

In general, systems operate on inputs to give outputs. u y g (i) Here, y = g (u ) In linear systems, the signal variables are assumed to be s-domain forms, while if nonlinear it is assumed these are strictly time domain functions (and Laplace transform does not apply). For linear,

Branching point

Y ( s ) = G ( s )U ( s )
U (s)

G ( s)

Y (s)

ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering The University of Texas at Austin

Implemented first in analog

Sum mg +

Integrate

Fd
K Gain
ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory
From H.S. Baeck, Practical Servomechanism Design, McGraw-Hill, 1968.

Department of Mechanical Engineering The University of Texas at Austin

Electronic analog simulation

A system can be wired into a patch panel, and the simulation is instantaneous. The set up is extremely difficult and error prone; changing parameters can be limited. Output of data can be limited. Electronics were not always reliable.

ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering The University of Texas at Austin

Dark Past
The figure to the left (courtesy of a simulation group at Boeing that developed EASY5) illustrates the complexity required in analog integration, particularly for very complex systems. The patch panels were difficult to manage, and could have intermittent/unreliable connections.

ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering The University of Texas at Austin

Modern (digital) implementations

Dont have the advantage of speed, but much more versatile, reliable, etc. Many implementations:
Boeing EASY5 (now owned by MSC) Matrixx (now owned by National Instruments) Matlab/Simulink National Instruments LabVIEW (Sim. Module) (others)
Department of Mechanical Engineering The University of Texas at Austin

ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory

ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering The University of Texas at Austin

EASY5 allows you to integrate models built in different waysthey did this early! (c. 1980s?)

ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering The University of Texas at Austin

Matlab/Simulink
Basic linear Nonlinear Logical The Matlab/Simulink environment provides a way to implement block diagram models directly for analysis and simulation. These are just some of the basic elements available. Example: basic feedback diagram

Sources

Controllers

These types of operators are common in most block diagram simulation environments (EASY5, Simulink, LV Simulation. etc.)
ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory Department of Mechanical Engineering The University of Texas at Austin

Quick LabVIEW Demo

ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering The University of Texas at Austin

Building the sphere model

ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering The University of Texas at Austin

How do you build a block diagram?

Derive the complete state equations (as you are learning to do in ME 344) Identify an integrator for each first order equation have as many integrators as states Use summers to form the algebra (add up the RHS) Form the terms that go into your summers by using states being solved and inputs
ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory Department of Mechanical Engineering The University of Texas at Austin

Example: Pushrod-lifter

State equations: 3 states 1 input

ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering The University of Texas at Austin

Block Diagram
NOTE: Most block diagram simulation programs include a STATE-SPACE element that can be used if you have those equations.

ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering The University of Texas at Austin

Feedback Control Systems

We introduce the basic concept of feedback control, which takes advantage of measured feedback and error measurement to adjust system action for a specified purpose.
R

+ Y

E = R Y

ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering The University of Texas at Austin

Identifying Feedback in Automatic Feedback Control Systems*

The purpose of a feedback control system is to carry out commands; the system maintains the controlled variable equal to the command signal in spite of external disturbances. System operates as a closed loop with negative feedback. The system includes a sensing element and a comparator, at least one of which can be distinguished as a physically separate element.
*O. Mayr (1970)
ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory Department of Mechanical Engineering The University of Texas at Austin

Float regulator (c. 280 B.C.)

In his book, Mayr analyzes all types of historical feedback control systems using block diagrams.

ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering The University of Texas at Austin

Does the governor in this toy control the mouse speed in a feedback sense?

D. Macaulay (CD-ROM)

ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering The University of Texas at Austin

Classification of control systems

Open-loop the output has no effect on the control action Closed-loop use of feedback to guide control action Analog vs. Digital - refers to the difference in implementing the controller, typically electronically Classical vs. Modern ME 364L
Classical control usually refers to SISO (single-input/singleoutput) systems ME 384Q MIMO (multiple-input/multiple-output) is concerned with control of systems having more than one controlled variable with possibly more than one control input
ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory Department of Mechanical Engineering The University of Texas at Austin

Open-Loop Control
The output is not compared with the reference (desired) signal/input Susceptible to large errors due to:
Disturbances Variation in the system parameters

Examples
Timed processes (e.g., toasters, most dryers, etc.) In vehicle systems, many traction/braking systems and steering systems are clearly open-loop
ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory Department of Mechanical Engineering The University of Texas at Austin

Closed-Loop Control
We try to represent control systems using block diagram descriptions. This is the standard form.
Disturbance Reference Signal + Error Signal + Controller + Plant Output

Feedback Signal

Sensor

Plant any physical system to be controlled Controller can generate inputs to the plant to achieve a desired objective Sensor means by which plant output is transformed to feedback information
ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory Department of Mechanical Engineering The University of Texas at Austin

Transfer functions
Linear feedback controls make use of transfer functions. Note that SISO feedback does NOT have to be formed by linear elements only. You can have nonlinear elements (later). The transfer function of a linear, time-invariant, differential equation system is defined as the ratio of the Laplace transform of the output to the Laplace transform of the input under the assumption that the initial conditions are zero.
G ( s) = L[output] L[input] zero initial conditions + bm 1s + bm + an 1s + an

Y ( s ) bo s m + b1s m 1 + = = U ( s ) ao s n + a1s n 1 +

A TF is a property of a system and independent of any input.

ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory Department of Mechanical Engineering The University of Texas at Austin

Quick TF Derivation for MKD

Mass (M) Spring (K) Damper (D) system

ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering The University of Texas at Austin

Response of MKD to Force Input

F (t )

1 2 ms + bs + k
F (t )

x (t )
Implement in LV simulation

Fo
Step function turns on at Ton

Ton
ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory

t
Department of Mechanical Engineering The University of Texas at Austin

Effect of Closing the Loop

Advantages:
Provides for disturbance rejection Reduces sensitivity to parameter variations Use error signal for dynamic tracking Enhance accuracy, extend bandwidth, etc.

Disadvantages:
Can lead to oscillation or instability
ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering The University of Texas at Austin

Closed-Loop Control Model

error controller

ud um +

plant

+ -

u
G p (s)

Gc ( s )

ys

H (s)
measurement

In ME 344 and ME 364L you learn how to analyze control systems, using block diagram algebra to derive expressions for the closed-loop response in the form,

y=

Gp 1 + Gc G p H

ud +

Gc G p 1 + Gc G p H

ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering The University of Texas at Austin

Example:
Closed-Loop Speed Control of a Gas Engine Td Engine Dynamics
Throttle controller

R( s) +
-

K1 Tt + 1s + 1
G1 ( s )

Te

K2 2s +1
G2 ( s )

C (s)
Speed
Note, sometimes the values are easy to measure and form basis of this simplified model.

H (s)

1 ms +1

measurement

Ignore disturbance for now,

C G1G2 = R 1 + G1G2 H

1 = 1sec 2 = 4sec m = 0.5sec

K1 = ? K 2 = 0.2

ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering The University of Texas at Austin

Basic Control Actions

Proportional (P) control Integral (I) control Derivative (D) control Combination: PI, PD, PID
Gc ( s )
E (s)

U ( s)

Most industrial controllers (well over 90 to 95%) you will run across will be of a PID type.
ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory Department of Mechanical Engineering The University of Texas at Austin

Proportional Control
E (s)

Gc ( s )

U ( s)

Control

u = Kp e U (s) = K p E (s)

Plant model

Gc ( s ) = K p = constant

X 1 = F ms 2 + bs + k

K p G p 1 Kp Xc GH = = = X R 1 + GH 1 + K p G p 1 ms 2 + bs + k + K p
stiffness

Closed-loop

ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering The University of Texas at Austin

Integral control:

Other Basic Forms K K

u=
I

TI

edt U ( s ) =

TI s

E ( s)

Integral control reduces or eliminates steady-state error, but has reduced stability. Derivative control: u = K DTD
de U ( s ) = K DTD sE ( s ) dt

Derivative control yields an increase in effective damping, improving stability.

1 PID control: U ( s) = K 1 + + TD s E ( s ) TI s
Most common in practical application. Tuning required (Ziegler-Nichols)
ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory

Note on implementing this with ODEs for simulation.

Department of Mechanical Engineering The University of Texas at Austin

Summary
Reviewed block diagram descriptions of system models and control systems Described examples of how these methods are used in industry/military applications A quick demonstration of the LabVIEW Simulation Module environment

ME 244L Prof. Raul G. Longoria Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering The University of Texas at Austin