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Control System Basic-2
Control System Basic-2
Introduction
Control systems are playing important role in modern civilization and technology. Every
system that we come across today, has control engineering enrolled in it. For example:
home heating system, air conditioner, refrigerator, an automobile, among others. Every
sector in industry has a control system, say, inventory control of manufacture product,
an automatic assembly line, machine tool control, space technology and weapon
systems, robotics, power plants.
Basic Terminologies
- System:
- Control system:
- Process or Plant (P): is a system to be controlled. Control systems for
temperature, liquid level, pressure, humidity, composition, all these are called
process control. Control systems for automatic airplane pilots, gun positioning
systems, radar antenna systems control are solved/developed by the theory of
servomechanism. This word stands for servo (slave/servant) and mechanism. So
servomechanism is the system which is slave to the command
- Response or controlled variable (CV): is the output of a particular process
- Manipulated variable (MV): is the variable to which the process is going to react.
This variable must be under control of the controller.
- Disturbance (W): It is out of the control of the controller
- Controller: Its function is to make the response follow the system command
despite of the random/unknown disturbances acting on the system. This can be
pneumatic, hydraulic or electrical. Now days, the controllers are OpAmp circuit or
digital computer/microcontroller. It controls/manipulates the power to be
generated by an actuator through a control variable (𝑢)
- Set-point: A constant command signal
- Reference signal: sometimes can be unknown, it has to be generated
- Transfer function (TF): The relation between input and output of the system
under relaxed system
- TF is more convenient in analysis and design compared to impulse response
- TF can be represented in polynomial form or in pole-zero form
Standard Test Signals
- Impulse, ramp, pulse and parabola
- If the system satisfactorily under these signals it will behave properly under
actual command signals
- The steady state behavioral can also be obtained by the final value theorem
- The SS starts soon as the transient dies out
Electrical-Mechanical Analogy
- Any electrical system can be represented as analog of mechanical system
- Consider
- Consider
- Now, instead of using KCL, we can just use force balance equation
- Consider
- We need to know the control problem. This means, we need to know what are
our objectives
- 𝑦(𝑡) ≈ 𝑦𝑟 (𝑡) ∀ 𝑡 ≥ 𝑡0
- Settling time: time taken for 𝑦(𝑡) to approach 𝑦𝑟 (𝑡)
Control requirements
Stability
- Un sistema de control está en equilibrio si, en ausencia de cualquier
perturbación o entrada, la salida permanece en el mismo estado. – Un sistema
de control lineal e invariante con el tiempo es estable si la salida termina por
regresar a su estado de equilibrio cuando el sistema está sujeto a una condición
inicial. – Si la salida de un sistema en estado estable no coincide exactamente
con la referencia, se dice que el sistema tiene un error en régimen permanente
(erp) o error estacionario. El erp indica la precisión del sistema. – Al analizar un