Basic of Control System

Control Engineering Coursework
BASIC OF CONTROL SYSTEM

P.M.MENGHAL
FACULTY OF ELECTRONICS MILTARY COLLEGE OF ELECTRONICS & MECHNICAL ENGINEERING,TRIMULGHERRY,SECUNDERABAD -500 015 ANDRA PRADESH INDIA Mobile: 9440635370
Email:prashant_menghal@yahoo.co.in prashantmenghal@gmail.com
I claim no originality in all these notes. These are the compilation from various sources for the purpose of delivering lectures. I humbly acknowledge the wonderful help provided by the original sources in this compilation.
For best results, it is always suggested you read the source material
DE-93 Control System
Asst Professor P M Menghal
INTRODUCTION OF CONTROL SYSTEMS

Basic Components of a Control System
Objective of Control System Control System Components Result or Output
CONTROL SYSTEM
RESULTS /OUTPUTS
OBJECTIVES
BASIC TERMINOLOGIES RELATED TO CONTROL SYSTEMS
BASIC TERMINOLOGIES RELATED TO CONTROL SYSTEMS
Fly ball Governor
TYPES OF CONTROL SYSTEMS

OPEN LOOP CONTROL SYSTEM
Brown Light Brown
Black
Heating Time
1.10 Min 2.10 Min

DE-93 Control System Asst Professor P M Menghal 8
OPEN LOOP CONTROL SYSTEM A physical system which does not automatically corrects for the variation in output is called as open loop control system. In open loop system the output does not influences the controller. Advantages 1.Simple in construction 2.Fast response 3.Low cost Disadvantages 1.Accuracy is less.
OPEN LOOP CONTROL SYSTEM
EXAMPLES Traffic Control System Automatic Washing Machine Ceiling fan Vacum Cleaner
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CLOSED LOOP CONTROL SYSTEM

Error Light Brown
Brown
Heating Time
Brown
1.10 Min
2.07Min
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A physical system which automatically corrects for the variation in its output is called as closed loop control system. A closed loop control system measures the system output measured by sensor with reference input and according to it produces an error signal.
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Advantages 1.This is less sensitive to disturbance signal. 2.Highly accurate. EXAMPLES Refrigerator Air Conditioner Human Respiration System Radar and Missile Railway Reservation System
Automobile Steering Control System
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Human Being
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Rotating Disk Speed Control
Without Feedback
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Rotating Disk Speed Control With Feedback
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Disk Drive Read System
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Disk Drive Read System
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Feedback and Feed Forward System
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Login T-Expert Learning and Teaching Testing Evaluation Quiz
Student Knowledge state Student Knowledge State
Leaning & Teaching Testing Quiz Measuring of Student Knowledge
Evaluation of student knowledge
Reference Subject Matter and the Good Student Model 21
Sun Reference
Controller
Position Feed back Large Solar collector
Positioner Launch Command
Control system for a sun seeker solar system

Anti-air craft RADAR tracking control system

Project position of Air plane when the shell arrives
RADAR antenna
Drive Marty
Feed back signal
PK
Activating signal
Computer (inside)
Asst Professor P M Menghal 23
Control system for a missile launcher

Flight path
Calculated path Tracking control
Actual position
Launch computer
Launcher
Amplifier
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Problem
All human have experienced a fever associated with an illness. A fever is related to the changing of the control input in the bodys thermostat. This thermostat, within the brain, normally regulates temperature near 98oF in spite of external temperature ranging from 0o to 100oF or more. For fever the input, or desired, temperature is increased. Even to many scientist, it often comes as surprise to learn that fever doesnt indicate something wrong with body temperature control but rather well controlled at an elevated level of desired input. Sketch a block diagram of the temperature control system and explain how aspirin will lower fever.
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With the onset of a fever , the body thermostat is turned up. The body adjusts by shivering and less blood flows to the skin surface. Aspirin acts to lower the thermal state point in the brain.
Designed Temp onset point from body the most to the brain. X Body temp
Controller Adjustment with in the body
Process Body
Measured body
temp
Measurement Internal sensor
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Problem
The role of air traffic control systems is increasing as airplane traffic increases at busy airports. Engineers are developing air traffic control systems and collision avoidance systems using Global Positioning System (GPS) navigation satellites.GPS allows each aircrafts to know its positions in the airspace landing corridor very precisely. Sketch the block diagram depicting how an air traffic controller might use GPS for aircraft collision avoidance.
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An aircraft flight path control system using GPS.

Desired path from X Flight Path from air traffic controller Measured R light Path Measurements
Controller Computer Auto pilot
Actuators Ailerons, elevators, Rudder and engine power
Process Aircraft
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Problem
The potential of employing two or more helicopters for transporting payloads that are too heavy for a single helicopter is a well addressed issue in the civil and military rotorcraft design arenas. Overall requirements can be satisfied more efficiently with smaller aircraft by using multilift for infrequent peak demands. Hence principle motivation for using multilift can be attributed to the promise of obtaining increased productivity without having to manufacture larger and more expensive helicopter. A specific case of a multilift arrangement where two helicopters jointly transport payloads has been named twin lift Fig shows typical two point pendant twin lift configuration in the lateral/vertical plane. Develop the block diagram describing the pilots action, the position of each helicopter and position of the load.
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A control system for a twin lift helicopter system.

System X Desired separation distance X Designed altitude Measurement Radar Separation distance
Controller
Process Helicopter
Altitude
Measurement Measurecl Altitude Altimeter
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TYPES OF SYSTEM
Fig : Input Output Behavior of a System
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TYPES OF SYSTEM
Linear System : Roughly speaking, a linear circuit is one whose parameters do not change with voltage or current. More specifically, a linear system is one that satisfies
(i) Homogeneity property [response of u(t) equals times the response of u(t), S(u(t) = S(u(t)) for all ; and u(t)]. (ii) Additive property [that is the response of system due to an input {1u1(t)+2u2(t)} = 1u1(t) + 2u2(t) .
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TYPES OF SYSTEM
Non-Linear System : Roughly speaking, a non-linear
system is that whose parameters change with voltage or current. More specifically, non-linear system does not obey the homogeneity and additive properties. Voltampere characteristics of linear and non-linear elements are shown in below .In fact, a circuit is linear if and only if its input and output can be related by a straight line passing through the origin as shown in fig Otherwise, it is a nonlinear system.
TYPES OF SYSTEM
Fig. V-I Characteristics of Linear System
Fig. V-I Characteristics of Non Linear System
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TYPES OF SYSTEM
Electrical Network: A combination of various electric elements (Resistor, Inductor, Capacitor, Voltage source, Current source) connected in any manner what so ever is called an electrical network. We may classify circuit elements in two categories, passive and active elements Passive Element: The element which receives energy (or absorbs energy) and then either converts it into heat (R) or stored it in an electric (C) or magnetic (L ) field is called passive element.
TYPES OF SYSTEM
Active Element: The elements that supply energy to the circuit is called active element. Examples of active elements include voltage and current sources, generators, and electronic devices that require power supplies. A transistor is an active circuit element,
meaning that it can amplify power of a signal. On the other hand, transformer is not an active element because it does not amplify the power level and power remains same both in primary and secondary sides. Transformer is an example of passive element.
TYPES OF SYSTEM
Bilateral Element: Conduction of current in both directions in an element (example: Resistance; Inductance; Capacitance) with same magnitude is termed as bilateral element.
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TYPES OF SYSTEM
Unilateral Element: Conduction of current in one direction is termed as unilateral (example: Diode, Transistor) element.
Meaning of Response: An application of input signal to the system will produce an output signal, the behavior of output signal with time is known as the response of the system.
TYPES OF SYSTEM
TIME VARIANT SYSTEM
Input r(t)
Parameters of system are functions of time
Output c(t)
Examples:1.Space vehicle whose mass

(weight ) decreases with time, as it leaves earth. 2.Rocket ,aerodynamic damping can change with time as the air density change with altitude.
TIME INVARIANT SYSTEM

Input r(t)
Parameters of system are constant and not functions of time
Output c(t)
Examples: Different electrical networks consisting of the

elements as resistances,inductances and capacitances are time invariant systems as the values of the elements of such system are constant and not the functions of time.
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TRANSFER FUNCTION
Selected Input
System
Parameters
Output
Performance of system can expressed in terms of its output Output = Effect of system parameters on the selected input Output = Input X Effect of system parameters Effect of system parameters = Output / Input
Definition:
It is defind as the ratio of Laplace transform of Output (response) of the system to the Laplace transform of Input (Excitation or driving function) under the assumption that all initial conditions are zero.
r(t) c(t)
System
R(s)
T(s)
C(s)
Laplace Transform of Output Transfer Function = Laplace Transform of Input
T(s)= C(s)/R(s)
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ADVANTAGES & FEATURES OF TRANSFER FUNCTION

It gives mathematical models of all system components and hence of the overall system. Individual analysis of various components is also possible by the transfer function approach. As it uses a Laplace approach, it converts time domain equations to simple algebraic equations. The transfer function is expressed only as a function of the complex variable 's.lt is not a function of the real variable, time or any other variable that is used as the independent variable.
ADVANTAGES & FEATURES OF TRANSFER FUNCTION

It is the property and characteristics of the system itself. Its value is dependent on the parameters of the system and independent of the values of inputs. Once transfer function is known, output response for any type of reference input can be calculated. It helps in determining the important information about the system i.e. poles', zeros, characteristic equation etc. It helps in the stability analysis of the system.
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DISADVANTAGES
Only applicable to linear time invariant systems. It does not provide any information concerning the physical structure of the system. From transfer function, physical nature of the system whether it is electrical, mechanical, thermal or hydraulic, cannot be judged. Effects arising due to initial conditions are totally neglected. Hence initial conditions loose their importance.
TERMINOLOGIES RELATED TO TRANSFER FUNCTION

A Transfer function is a ratio of L.T. of output to input which can be expressed as a ratio of polynomials in S. Transfer Function = P(s)/Q(s) = a0Sm + a1Sm-1 + a2Sm-2 + -- + am
b0Sn + b1 Sn-1 + b2 Sn-2 + -- + bn
K (S-Sa) (S-Sb)- - - - -(S-Sm)

(S-S1) (S-S2)- - - - -(S-Sn)
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TERMINOLOGIES RELATED TO TRANSFER FUNCTION

Poles: The value of S which makes the T.F.infinite after substitution in the denominator of a T.F.are called as Poles of T.F. So values S1,S2,S3 - - - -Sn are called as poles of the T.F. Zeros: The value of S which makes the T.F. zero after substitution in the numerator of a T.F.are called as Zeros of that T.F. So values Sa,Sb,Sc - - - -Sm are called as zeros of the T.F. Characteristics Equation The equation obtained by equating denominator of atransfer function to zero whose roots are the poles of the transfer function is called as characteristics equation
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TERMINOLOGIES RELATED TO TRANSFER FUNCTION Pole-Zero Plot: Plot obtained by locating all poles and zeros of aT.F.in S plane is called polezero plot. Examples: C(s)/R(s) = (S+2) / S[S2+2S+2] [S2+7S+12]
Poles: S = 0,-1 j, -3, -4 Zeros: S = -2
Imj (J) S Plane
X -2 -1
Real (-)
X
-4
X
-3
X s= 0
-j
Imj (-J)
Real ()
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PB: Derive the Transfer Function of the circuits I(s)/Vi(s)
Vi(t) i(t)
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Step:1 Convert the given network in to laplace
Vi(s)
I(s)
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Apply KVL to circuit Vi(s) = (R +1/Cs)I(s)

I(s)/Vi(s) = Cs / (1 + sCR)
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Determine the transfer function Vo(s) / Vi(s)
Vi(t)
Vo(t)
Step1: Convert the given network in to Laplace network

Vi(s)
I(s) Vo(s)
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Apply KVL to given Network.

Vi(s) = (R +1/Cs)I(s) Vo(s) = R I(s)
Vo(s) = Vi(s)
sCR
(1+sCR)
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Determine the transfer function Vo(s) / Vi(s)
Vi(t)
Vo(t)
i(t)
Step1: Convert the given network in to Laplace network

1/Cs
R2 Vi(t)
I(s)
R1
Vo(t)
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R1(1/Cs) (R1+ 1/Cs) R2 Vo(s)
Vi(s)
I(s)
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R1(1/Cs)
Vi(s) =
(R1+1/Cs) Vo(s) =R2I(s)
I(s) + R2I(s)
Vo(s) =
R2
(1+sCR1)
Vi(s)
(R1+R2)
1 + sCR1R2
(R1+R2)
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Vo(s)
K(1+s1)
Vi(s)
(1+s2)
2 = CR1R2 / (R1 +R2) and
Where 1 =CR1
K= R2/(R1+R2)
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TRANSFER FUNCTION OF OPEN LOOP CONTROL SYSTEM

R(s) C(s)
r(t)
G(s)
c(t)
Output signal of any block = Input signal to that block X gain of that block
C(s)= R(s) X G(s) T.F. = C(s) / R(s) = G(s)

G(s) = Forward path transfer function
TYPES OF FEEDBACK
Negative Feedback
R(s) + E(s)
G(s) V(s) H(s)
C(s)
All practical systems are negative feedback system
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Positive Feedback
R(s) +
E(s)
G(s) + V(s) H(s)
C(s)
Ex: Oscillator
Unity Feedback E(s) R(s) G(s) + V(s)

H(s) =1
C(s)
Ex: Voltage Regulator

TRANSFER FUNCTION OF CLOSED LOOP CONTROL SYSTEM

Consider negative feedback system
R(s) + E(s)
G(s) V(s)
C(s)
H(s)
H(s) = Feedback Path Transfer Function E(s) = R(s)-V(s) Output of the system = C(s) = G(s) E(s) = G(s)[ R(s)- V(s)] V(s) = C(s)H(s)
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C(s) = G(s)[ R(s) C(s)H(s)] [1+G(s)H(s)] C(s) = R(s)G(s)
T.F. = C(s)/R(s) = G(s)/{1+G(s)H(s)} Open Loop Equivalent Of Closed Loop System R(s) G(s)/{1 G(s)H(s)} C(s)
+ = Negative Feedback - = Positive Feed Back
"A person who learns but does not think is lost"

"A person who thinks but does not learn is in great danger."
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Basic of Control System

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Control Engineering Coursework

BASIC OF CONTROL SYSTEM

DE-93 Control System

Asst Professor P M Menghal

INTRODUCTION OF CONTROL SYSTEMS

DE-93 Control System

Asst Professor P M Menghal

BASIC TERMINOLOGIES RELATED TO CONTROL SYSTEMS

DE-93 Control System

Asst Professor P M Menghal

BASIC TERMINOLOGIES RELATED TO CONTROL SYSTEMS

DE-93 Control System

Asst Professor P M Menghal

Fly ball Governor

DE-93 Control System

Asst Professor P M Menghal

DE-93 Control System

Asst Professor P M Menghal

TYPES OF CONTROL SYSTEMS

1.10 Min 2.10 Min

OPEN LOOP CONTROL SYSTEM

DE-93 Control System

Asst Professor P M Menghal

CLOSED LOOP CONTROL SYSTEM

DE-93 Control System

Asst Professor P M Menghal

CLOSED LOOP CONTROL SYSTEM

DE-93 Control System

Asst Professor P M Menghal

CLOSED LOOP CONTROL SYSTEM

Automobile Steering Control System

DE-93 Control System

Asst Professor P M Menghal

DE-93 Control System

Asst Professor P M Menghal

Rotating Disk Speed Control

DE-93 Control System

Asst Professor P M Menghal

Rotating Disk Speed Control With Feedback

DE-93 Control System

Asst Professor P M Menghal

Disk Drive Read System

DE-93 Control System

Asst Professor P M Menghal

Disk Drive Read System

DE-93 Control System

Asst Professor P M Menghal

Feedback and Feed Forward System

DE-93 Control System

Asst Professor P M Menghal

Login T-Expert Learning and Teaching Testing Evaluation Quiz

Student Knowledge state Student Knowledge State

Leaning & Teaching Testing Quiz Measuring of Student Knowledge

Evaluation of student knowledge

Reference Subject Matter and the Good Student Model 21

DE-93 Control System

Asst Professor P M Menghal

Position Feed back Large Solar collector

Positioner Launch Command

Control system for a sun seeker solar system

Anti-air craft RADAR tracking control system

Feed back signal

Control system for a missile launcher