CONTROL SYSTEMS
Introduction to Control Systems
In this chapter we attempt to familiarize the reader with the following subjects:1.
What a control system is2.
Why control systems are important3.
What the basic components of a control system are4.
Why feedback is incorporated into most control systems5.
Types of control systemsLet's begin with a simple question. When did you last use the word " Control" ? Perhapsone may have to think for a while. But the paradox is that one invariably uses this wordalmost in every walk of life but fails to take notice. The following are a few common phrases we come across all the time.
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He has no control over his expenditure.
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I could not control my tears.
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The law and order situation in the city is out of control.
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pest control in orchards.
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The doctor suggested strict diet control.There are many new products and services being introduced every day that depend oncontrol systems yet they are not identified as control systems!. The user of the systemdoes not focus on the control system but on the results.With regard to the first two items above we cite the example of the human being as perhaps the most sophisticated and the most complex control system in existence. Anaverage human being is capable of performing a wide range of tasks, including decisionmaking. Some of these tasks, such as picking up objects, or walking from one point toanother, are normally carried out in a routine fashion. Under certain conditions some of the tasks are to be performed on the best possible way. For instance an athlete running a100 yard dash has the objective of running that distance in the shortest possible time. Amarathon runner on the other hand, not only must run the distance as quickly as possible, but in doing so, he or she must control the consumption of energy, so that the best resultcan be achieved. Therefore, we can state that in general that in life there are numerousobjectives that need to be accomplished and the means of achieving the objectivesusually involve the need for control systems.In recent years control system have assumed an increasingly important role in thedevelopment and advancement of modern civilization and technology. Particularly everyaspect of our day to day activities is affected by some type of control system. For example in the domestic domain, automatic controls in heating and air-conditioningsystems regulate the temperature and humidity of homes and buildings for comfortableliving. To achieve maximum efficiency in energy consumption many modern heating andair conditioning systems in large office and factory buildings are computer controlled.The principles of control system can be illustrated in many fields.
ObectivesResultsInputsUOutputsCa b
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In a simple transistor amplifier a low level signal applied to the base will control arelatively large level signal on the collector.
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By turning a key the driver of an automobile can start a large H.P engine.
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A person can lower the temperature in the room simple by turning a knob on theair conditioner.
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The driver of several tonne automobile can control as motion by the simple use of steering wheel, accelerator, and brake pedal.Control systems are found in abundance in all sectors of industry such as quality controlof manufactured products, automatic assembly line, machine tool control, spacetechnology and weapon systems, computer control, transportation systems, computer control, transportation systems, robotics and many others.Definition of control systemA control system can be defined as an interconnection of several components all workingtogether to perform a certain function. In most cases this function is the control of physical variable, such as temperature voltage, frequency, flowrate, current, position, hpspeed, illumination, altitude etc., These are called controlled variables.Regardless of what type of control system we have, the basic ingredients of the systemcan be described by1.
Objectives of the control2.
Control system components3.
ResultsCONTROL SYSTEMCONTROL SYSTEMFig 1.1 Basic components of control systemsIn block diagram form, the basic relation between these three basic ingredients isillustrated in fig 1-1 (a)In more scientific terms, these three basic ingredients can be identified with inputs,system components, and outputs, respectively as shown in fig 1-1(b)In general, the objective of the control system is to control the outputs c in some prescribed manner by the inputs U through the elements of the control system. The inputsof the system are also called actuating signals, and outputs are known as controlledvariables.
Speed of thePrime mover InducedVoltaeOutputInputsTimeCleanliness of clothesOPEN LOOP CONTROL SYSTEMS (NON FEED BACK SYSTEMS)Those systems in which the output has no effect on the control action are called openloop control systems. In other words, in an open - loop control systems the output isneither measured nor feedback for comparison with the input. Thus to each referenceinput there corresponds a fixed operating condition; as a result, the accuracy of thesystem depends on calibration. Open loop control can be used, in practice, only if therelationship between input and output is known, and if there are neither internal nor external disturbances. Note that any control system that operates on a time basis is openloop. We shall go through examples and try to identify the inputs (objectives) and outputs(effects).EXAMPLE - 1 Rotational Generator The input to rotational generator is the speed of the prime mover ( e.g steam turbine) inr.p.m. Assuming the generator is on no load the output may be induced voltage at theoutput terminals.Rotational Generator Fig 1-2 Rotational Generator EXAMPLE – 2 washing machineMost ( but not all ) washing machines are operated in the following manner. After theclothes to be washed have been put into the machine, the soap or detergent, bleach andwater are entered in proper amounts as specified by the manufacturer. The washing timeis then set on a timer and the washer is energized. When the cycle is completed, themachine shuts itself off. In this example washing time forms input and cleanliness of theclothes is identified as output.Washing Machine
Fig 1-3 Washing MachineEXAMPLE – 3 WATER TANK LEVEL CONTROLTo understand the concept further it is useful to consider an example let it be desired tomaintain the actual water level 'c ' in the tank as close as possible to a desired level ' r '.The desired level will be called the system input, and the actual level the controlledvariable or system output. Water flows from the tank via a valve V
o ,
and enters the tank from a supply via a control valve V
c.
The control valve is adjustable manually.Fig 1-4 b) Open loop controlWATER TANK Desired Water level r Valve V
C
Valve V
O
Water
in
Water outC
of 00
Control System
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