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CSE Lecture 1-UWE PDF
CSE Lecture 1-UWE PDF
02/12/2013
UWE Bristol
Industrial Control
UFMF6W-20-2
Teaching
• Course structure:
– 1 hour lecture + 2 hour tutorial per week
– Two modules, co-taught (assessments are different)
– 14 weeks control (Ben Drew & Neil Larsen)
– 6 weeks sensors and actuators (Sabir Ghauri)
• Tutorials:
– 1st Semester: Classroom examples/problems
– Tutorial Sheets on Blackboard (and solutions)
– 2nd Semester: Laboratory (Simulink, DC motor control
+ sensors and actuators)
• Lecture videos
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© 2013 – University of the West of England
02/12/2013
Assessment
• 1 coursework – laboratory report (40%)
– Group report
• Exam after Easter Break (60%)
• Reading list:
– The Art of Control Engineering, Ken Dutton, Steve
Thompson, Bill Barraclough
– Control Engineering, W. Bolton
– Control Systems Engineering, N.S. Nise
– Aircraft Control and Simulation, B.L. Stevens & F.L.
Lewis
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© 2013 – University of the West of England
02/12/2013
Today’s Lecture
• Introduction to Control
• Examples
• Control Basics
• Open- and Closed-loop control
• Control System Design Steps
• Example Models
Introduction to Control
• What is a control system?
• Common example in the human body:
temperature control
Sweat/shiver
Ac(on%
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© 2013 – University of the West of England
02/12/2013
Introduction to Control
• Applications in:
– Physiology
– Economics
– Many fields of engineering:
• Hydraulics
• Electronics
• Mechanics
• Etc.
Simple Examples
• Car speed
Desired speed Actual speed
Thro-le% Engine% Vehicle%
Controller
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© 2013 – University of the West of England
02/12/2013
Examples
• Control systems are required in complex
machines, devices
– Aircraft control systems
– Anti-lock braking systems
– Manufacturing processes
Examples
• Inverted Pendulum
– Demo
• Videos
– http://tinyurl.com/uwetriple
– http://tinyurl.com/uweballrobot
– http://tinyurl.com/uwebigdog
– http://tinyurl.com/uwekestrel
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© 2013 – University of the West of England
02/12/2013
Control Basics
• What is common for all these systems?
• A physical quantity has to be maintained at
a fixed value (or series of values)
• What information is necessary?
– What the system needs to do
– How well is the system is doing
– What control action keeps maintains the
action
Turntable
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© 2013 – University of the West of England
02/12/2013
Turntable
Speed +
DC%Amplifier% DC motor
setting –
Tachometer
Sensor%
Measured speed
Tachometer%
(voltage)
Feedback
Speed%sensor%
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© 2013 – University of the West of England
02/12/2013
Temperature%
sensor%
Feedback
Sensor%
feedback
– Normally depicted in a block diagram
– Plant provides the system output
– Controller takes the control input and provides a control output
– Sensor takes the output and feeds it to the subtractor (or comparator)
that compares the demand (the setpoint value) with the output of the
sensor to produce an error
– All connected by arrows, which represent signals
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© 2013 – University of the West of England
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© 2013 – University of the West of England
02/12/2013
System Modelling
• Dynamic behaviour of the system
• Linear or non-linear fashion
• System dynamics – how its output
changes in response to a particular input
Example
• Furnace
F θ
Furnace%
Fuel flow Temp (deg C)
rate (kg/s)
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© 2013 – University of the West of England
02/12/2013
Example models
• Liquid level tank
• RC circuit
• Car suspension
C/S area = A
Qin
assume Qout= kh
(k is a constant)
h
Qout
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© 2013 – University of the West of England
02/12/2013
Example 2: RC circuit
• Differential equation that related Vout to Vin
R
Vin C Vout
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© 2013 – University of the West of England
02/12/2013
Example 2: RC circuit
• Differential equation that related Vout to Vin
R
dv
Capacitor current : i = C
Vin C Vout dt
dVout
Vin − Vout = iR = C R
dt
dVout
Vin = Vout + CR
dt
Fin
m xout
k D
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© 2013 – University of the West of England
02/12/2013
Today’s lecture
• Control is an intrinsic part of humans and a vital
part of many engineering systems
• In order to control a system, we need to know
the system/plant itself and control methods
• Description of a system to be controlled –
system model is a starting point of the control
system design
• Tutorial sheet 1: On blackboard. Determining
differential equations for systems
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