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The tank water level c can be controlled to the desired water level r
by adjusting the inlet valve Vc.
Fig. 1.2 Descriptive block diagram of the water level control system.
Block diagram: used to graphically describe the control systems to
shown the composition and the interconnection of a system, as well as
the flow of information.
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In the closed-loop cruise control, the output (real car speed) is measured
and compared with the input (desired speed). The speed difference between
the output and the input is sent to the controller, which computes control
signal to adjust the throttle and then the engine to influence the car speed.
The above three steps of measuring-comparing-adjusting are done in
an automatic and continuous way.
In the closed-loop cruise control system, corrective actions are taken to
influence the car speed, as long as a difference between the car speed and
the desired speed is detected by the sensor, regardless of whatever reasons
the speed difference is caused by.
Hence, in the closed-loop cruise control, the system is less sensitive to
disturbances and parameter variations than the open-loop cruise control.
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1. 4. 2 Open-loop examples
Open-loop control is useful for well defined systems where the
relationship between input and the resultant state can be modeled by a
mathematical formula.
An open-loop controller is often used in simple processes because of
its simplicity and low-cost, especially in systems where feedback is
not critical.
Examples of open-loop systems are washing machine, hair dryer and
traffic signal control where the systems work on a preprogrammed
manner and there is no feedback.
In a traffic signal system, the light is turned on for a given period of
time. A timer counts the time and sends a signal to turn on the light.
The system doesnt check whether the light has been really turned on
or not.
In a conventional washing machine the washing cycle is broken into
several fixed steps, such as washing, rinsing and drying. Each step
takes a certain fixed period of time.
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Mechanical systems
2.1.2
Electric circuits
2.1.3
2.2
Laplace transform
2.3
Transfer function
2.4
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damp
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Rule:
1) Assign variables such as
is also indicated.
2) Draw free-body diagram for mass Indicate all forces (magnitude and
direction) by letting a small displacement of mass along its positive
direction.
3) Apply Newtons Law of Motion to obtain a differential equation for
each rigid body.
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Assume both m and m1 move a small displacement along their positive directions
<
Streched
k1(x1-x)
k1(x1-x)
+k1(x1-x)
-k1(x1-x)
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is also indicated.
2) Draw free-body diagram for each rigid body. Indicate all forces acting
on each mass and their reference directions by assuming a small
displacement of each mass along its positive direction. The acceleration of
each mass is also indicated.
>
x1
and
x1
, assume
of the forces. Newtons 3rd Law of Motion (action and reaction forces)
should be used in determining action and reaction forces.
4) Apply Newtons Law of Motion to obtain a differential equation for each
rigid body.
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2. 1. 1. 2 Rotational motion
Modeling rotational motion systems follows the same rules for modeling
translational motion systems.
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2. 1. 2 Electric circuits
Electric circuits consist of interconnections of sources of electric voltage
and current, resistors, capacitors, inductors and other electronic
elements.
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For simple electric circuits, Kirchhoffs current and voltage laws can be
directly used.
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( in/out current)
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