9/7/2016

ME 461
Control Engineering
Semester: July 2016
Dr. Sumon Saha
Assistant Professor
Department of Mechanical Engineering
Bangladesh University of Engineering and Technology
Wednesday, September 07, 2016

Control
What is Control Engineering?
Engineering

Control
Tentative Course Plan
Engineering

Course Overview
Introduction to Control Systems
Mathematical Modelling and Transfer Function
System Response (First and Second Order)
Block Diagram and Transfer Function
Closed-loop Controllers
Poles and Zeros
Stability Analysis
Steady-State Analysis
Frequency Response
Root Locus Plot
Bode Plot
Applied Problems on Control Engineering

Control
Engineering

Definition

Control engineering or control systems engineering is the

engineering discipline that applies control theory to design
systems with desired behaviors.

The practice uses sensors to measure the output performance of
the device being controlled and those measurements can be
used to give feedback to the input actuators that can make
corrections toward desired performance.

When a device is designed to perform without the need of
human inputs for correction it is called automatic control (such as
cruise control for regulating a car's speed).

Multi-disciplinary in nature, control systems engineering activities
focus on implementation of control systems mainly derived by
mathematical modeling of systems of a diverse range.
Control theory deals with the behavior of dynamical systems with inputs and how their
behavior is modified by feedback.
http://en.wikipedia.org/wiki/Control_engineering

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Control
Engineering

Control
Engineering

Integration

Modern day control engineering can be broadly defined or

classified as practical application of control theory.

Control engineering has an essential role in a wide range of
control systems, from simple household washing machines to
high-performance F-16 fighter aircraft.

It seeks to understand physical systems, using mathematical
modeling, in terms of inputs, outputs and various components
with different behaviors; use control systems design tools to
develop controllers for those systems; and implement controllers
in physical systems employing available technology.

A system can be mechanical, electrical, fluid, chemical, financial
and even biological, and the mathematical modeling, analysis
and controller design uses control theory in one or many of the
time, frequency and complex-s domains, depending on the
nature of the design problem.

http://en.wikipedia.org/wiki/File:MechatronicsDiagram.svg

Control
System concept
Engineering

Control
Measurement system
Engineering

A system can be thought of as a box which

has an input and an output.
input
Electric
power

Equations
Motor

Overview

output
Rotation

Elements of a Measurement system

Transducer
Signal processor
Recorder

Example: Digital thermometer

Functional block diagram

Equations are used to describe the relationship

between the input and output of a system.
Response of a system is a measure of its fidelity
to its purpose.
http://mechatronics.colostate.edu/figures/E1-2.jpg

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Control
System Classification
Engineering
Measurement System versus Control System
input
Electric
power

System
Motor

output
Rotation

Is it a control system or measurement system?

Control
Control system
Engineering
The term control means to regulate, to direct or to command.
Thus, a control system may be defined as a combination of
devices and components connected or related so as to
command, direct or regulate itself or another system.
Example: Modern automobile. Various sensors supply the onboard computer with information about the engines condition.
The computer then calculates the precise amount of fuel to be
injected into the engine and adjusts the ignition timing.

Based on purpose of that system

Combination of measurement and control system

Automatic Control System

Control
Classification of Control system
Engineering

Control
Classification of Control system
Engineering

Classification
Open-loop system or non-feedback system
Closed-loop system or feedback system

Example : Open-loop or non-feedback system

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Control
Classification of Control system
Engineering

Control
Computer based Control system
Engineering

Example : Closed loop system or feedback system

Control
Engineering

Example : Automatic table and dispenser

Open loop versus Closed loop Control system

Control
Engineering

Closed loop Control system

Question: With appropriate examples, discuss the differences

between open loop and closed loop control systems.
Open loop control system

Closed loop control system

1. Non-feedback system

1. Feedback system

2. Simple to design

2. Complex in design

3. Do not monitor or correct the output for 3. Monitor or correct the output for
disturbance
disturbance
4. Inexpensive

4. Expensive

5. No control on timing to achieve the 5. Control on timing to reach desire

desired output
output
6.

6.

7. Example: Washing machine, toaster

7. Example: Home
conditioning system

8. More stable as feedback is absent

8. Less stable comparatively

heating

or

air

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Control
Engineering

Closed loop Control system

 The heart of the control system is the controller, an analog

or digital circuit that accepts data from the sensors, makes a
decision, and sends the appropriate commends to the
actuator.
 The controller tries to keep the controlled variable such as
temperature, liquid level, position, or velocity at a certain
value called the set point (SP).
 A feedback control system does this by looking at the error (E)
signal
o Error (E) is the difference between where the controlled
variable is and where it should be.
o Based on the error signal, the controller decides the
magnitude and the direction of the signal to the actuator.

Control
Engineering

Example: Home Heating System

Schematic diagram

Control
Engineering

Example: Home Heating System

The output signal from a temperature sensing device such as

thermocouple, or a resistance thermometer is compared with the
desired temperature.

Any difference or error causes the controller to send a control
signal to the gas solenoid valve, which produces a linear
movement of the valve stem, thus adjusting the flow of the gas to
the burner of the gas fire.

Control
Engineering

Example

Functional block diagram

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Control
Engineering

Example: Home Heating System

Control Objective: maintain house temperature at SP in spite of

disturbances
Process Variable: house temperature
Measurement Sensor: thermistor; or bimetallic strip coil on analog
models
Measured Process Variable (PV) Signal: signal transmitted from
the thermistor
Set Point (SP): desired house temperature
Controller Output (CO): signal to fuel valve actuator and furnace
burner
Final Control Element (FCE): solenoid valve for fuel flow to furnace
Manipulated Variable: fuel flow rate to furnace
Disturbances (D): heat loss from doors, walls and windows;
changing outdoor temperature; sunrise and sunset; rain

Control
Engineering

Example: CNC machine tool

Control
Engineering

Example: CNC machine tool

This is converted to an analogue control signal which, when

amplified, drives a DC servomotor.
The output shaft of the servomotor is a lead-screw to which the
machine table, the shaft encoder and a tacho-generator (which
produces analogue signal proportional to the velocity) are
attached.

Information relating to the shape of the work-piece and hence the

motion of the machine table is stored in a computer program.
This is relayed in digital format, in a sequential form to the
controller and is compared with a digital feedback signal from the
shaft encoder to generate a digital error signal.

Control
Classification of Feedback Control system
Engineering
1. Regulator system (discontinuous): is one whose prime
function is to maintain the process (controlled) variable
essentially constant despite unwanted disturbances to the
system. In these systems, the set point (reference variable)
is changed infrequently.
Home heating system.
2. Follow-up system (continuous): is a feedback control
system whose prime function is to keep the process
(controlled) variable in close correspondence with a
reference variable which is frequently changed.
Lathe tracer system. Servomechanism.
Question: With examples discuss the differences between
regulator and follow-up systems of feedback control.

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Control
Engineering

Follow-up system

Control
Engineering

Example: Servomechanism

Follow-up system (continuous): Also called tracking or servo

system.

Servomechanism: A servomechanism is a feedback control

system in which the controlled variable is mechanical position
or a time derivative of a position such as velocity or
acceleration.
Example: Industrial robotic arm forced to follow some desired
path in space.

Control
Requirements for the control system
Engineering
An ideal control system would be stable, would provide
absolute accuracy (maintain zero error despite disturbances)
and would respond instantaneously to a change in the
reference variable.

Control system design objectives
Stability
Accuracy (steady state response)
Speed of response (transient response)
1.Stability: A system must be stable which means the
response to an input, be it a reference change or a
disturbance, must reach and maintain some useful value
within a reasonable period of time.

Numerical control milling machine

Control
Engineering

Stability

Total response = Natural/Steady-state response + Forced/Transient response

system
input
Natural response describes the way the system dissipates or
acquires energy.

Natural response must (1) decay to zero as time approaches

infinity or (2) oscillate.

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Control
Engineering

Accuracy

2. Accuracy or steady-state response: A control system must

be accurate within specified limits. This means that the
system must be capable of reducing any steady-state error
to some tolerable value.
All control systems in any event must provide demanded
degree of accuracy.
No control system is able to maintain zero error at all times
because an error is required to initiate the corrective action.
Ideal system: zero error
Actual system: imperfection inherent in components during
making up the system.
Accuracy

Control
Engineering

Cost

Control
Engineering

Speed of response

3. Speed of response or transient response: A control system

must complete its response to some input within an
acceptable period of time.
All control systems should produce the desired transient
response.
Example: Elevator

Slow transient response passengers
Become impatient.

Excessively rapid transient response
Passengers feel uncomfortable.

Stability

Feedback Control system Design

The design of a feedback control system follows these steps:

1.Determine a physical system and specifications from
requirements.
2.Draw a functional block diagram.
3.Represent the physical system as a schematic.
4.Use the schematic to obtain a mathematical model such as
a block diagram.
5.Reduce the block diagram.
6.Analyze and design the system to meet specified
requirements and specifications that include stability, transient
response, and steady-state performance.
Question: Discuss the steps to be followed during feedback
control system design.