| Units System Components Control system: “Feaminologies & Basic otwucture- Feod Bach. 2 Feod conward (orbrl theowy— Elecerial and Mechoni Transfer funtion models! Blox diagram models signal {tow Wy models- DC’ Ac Sewd motors — Synchnos- Mubuivoniable contwb systerns, — x x = EN TRORUCTION! . ‘Contwl si deal with contol . ' Pins ol e therefore called Phuysical system. “the word “contve!” means to ov bo command: The worl "s means devices and componort> Connected. ko ‘commard, di oF regulate ik aol} Systers TE g used én many applreabrons eq. contol 4 eralwu, liquid levd , posibion , Velociby , Plow, ation etc: Pressure, AC 1 . A & THEIR, “Re pRESENTATION yO cankene LE we gated tre ‘lows 4, te, bo dined, {Cenbiyeoation qa centre system visburtbarce - hae _ ip - cornoard t antpelalid yo : Mpa ntrolle} Varubibte press cre and fue eet outpetta- tommand apc abe direction q Speed Limit with bapgre o a cane! ~eprese ne bine sant wind +bogsic Cpivturtance ) highwar | _ fond | Adkucubor -— — reach tng Seal [Brain] Vehicle |g Controle) Tprecess) - Contr system Terminology = Iw Reference tnpub : Th provides tnput segral ‘for desived Out ptt cil Ever detector: 2 % an element in ustu'dy one 8L Vovabl & subtincted. feom another Variable to obtatn third yollrable . dhe Called Co; OY + WY Feedback element: + . Common: re © mecynes the Contbrotl) — Sutput, convert or anstems boa cuidanle Noluo. for Companison ith. wef. Inpu'O, [00 Exe signals 14 han alberxccic sum Teferonce ' te input curd “Pecctnack } | lw Controller : Controllon & an element Hak b reywirel | to genorate the Opprepriak Control signa}.| The corctrobles operctts urchil the ous | behveen Controtted output and desived | Output > reduced to comp - | Controlled gupbern> 2a a q body, a plant, a process: or Armackune % urhrch et porciowa Condition A bp be controbled - fy &f-70rM heeabing system, Spacocras "Maco boilon: Wily controlled 6 TE proctuced by actuccking —— Sigral awnailatte d, input bo Une Conbroller- controled ouLtpube o> trade eoyial ty desived output | wlth the + feedback Shin | E or Referer Dekectue! * Companabee . mp Sxpyr oe sper inter | Fes “ Contyebled System | lp | a} Representation 4 control Sista’ C closed toa ——~ Xe1 Baste shauture corttrel Siptern: contol, Plank ay ye eit ep tape pd ENG BEM EI [Ak A > Referwnce tnpak element . Y > controlled ouk, a anil logic elonnents w—>vbsbwrtha nce: pub In Ackuocbor clement b_. co nee Sip Controlled 5 elements . im eovror H—> feedback clement ~ control sig nal . b> feedback exgnal : me manip whe esi ¥ roan np > Coramand 4 . ey pee Classification contrel_ systems WO pen and chased Loop control System. Cit? Linea and non Linea Conctrot Supreme Cli) “Teme ftnveriant and Variant contol sintem civ) conkinows time £ Ddewke Contec Sistem siso £ MIMo control Su mn) humped s Dobsbulid pararnelon control System twliyDebaminibic 2 Stochastic control system Willy Skokie & dyrouric contro) system:|W open Loop and . closed Loop oysters ' 6. open Loop - | - ChesecT Loop ~ No feedback Lied Feedback —P Used for compare | the deste) output — and —, sepercnce _tnpae | /open Loop "system “s ” gene closed Loo, em hecon Stable aly Luvstabte un om ame [conditions _| [simple bo to develop ane ancl | tt & move comple x . ib determined by cemnelicated bo Construct and bauteand q thoin elomo ne’ 7 ' pAefeded py Ron Linesnibies | Adjust ky Affect Q Nor | [Lingeory present i un the Sim = 7, wash %y machine , “axed eq: ef ou , Sexvo mobss| hime kvaffic, YEO hoattost smant AC, gensrator of ole. ci binean and non Linger “contol oe 7 T4 Sus 0 the prindp 4 “Suipenpasitiny, Sach o i‘ um He ed Hiner sistem: the superposition that Yesporse produced bi sirmuntearecii Berteion 4, be difperenk wang “handed in eoytal t Sun indi ida) repenses . rq a system donot obey he Superpasthon | pointiph > talled: non hinesr supstem * ntrol si | lend Time drnantant — cuind: Tune Vesper cond iybern | yt nL. porameters donot Vary with tme- 4 ik» tn dependent 4 time at vshidh “énpub © |Applied such @ system ip Called Time Invicouant § eq. Ate . FA A Sistem parameters woth beme . The] ae ate on tine ar whieh tap colpplied I Buch a System cabled Time Vaxrant system @> Space Vehicle controt Auptem » whore mass dlocrcases with time: Gy Conkinows bine 2 poowk: Control stem TE all system porrameber ane funcdion o4 Continous time 4". t called Continous, fime Control System® €4-> Speed control q Dc Mokor . 74 Ere Sypbem Conkol involves one © move| Voxiatl, that ose known only af discrote inxtanks 4, time % Called voce Lime Cdnbol system - €q- Alo toewerters , generakexcibation Control system Ysiso & Mimo: A sushem Uwith’ ore Command input andl on “ rontyled output in abled Single cnput singe oxthpaut} (Sise]. . A System with multi phe snpub & outpuls tolled Muti anput - Mut out put (mimo) . €- bétler down Level, srobot coum control/ , ) jw humped ard Dirbsibuked paramator conte! sphem f 4 Contre System ‘dascrihe, b Atma, | Pi-Ferontial eouotion ase bape U nara x4 contro Srystem described by portial differential Ryoko are Caled dishibuted pasamaton: eq. Bb): “ eberministic and Stochashic Rontwl system: / Th the vespome % preclichuble cndaepectsbh, % Called debeaminishic: 4 reepence invelve vandom. Vor? abate poremetors: Such a Systern ve Cabtod Skochasihic Control System, PMP Seated _oyrarte- conta system =f present output depends on past in pu bs Called dujnamic ov dime dependent system. rp. | Present output copends only on present npub & Called Stabc ov time tndependent erste + ask —x Feed Back # feedfonuend contol treo Both — contwol Lechnique i used to j Oo ct the. = disturbance: Tt does not gere> neato cuny Spectaticed contro} theory - banrte 4 HSystern Ayhanives cae Suffictenk in Mosk Coser |Feed Fevitasd | . »Pinburtone “toon (Ere mere tal br 9 Teh vipers f [Megeere} “ Mecusement i ti nee bt | Main objective te nba” vor Sely naling OF minimize omient iad [TE compensates the I ow cle » dik dishurvabe aceh “fig joe hoy “cd i j ControULes| Neda . conta ! a: Jae does not indude | aa include, Feedtacy, | | “Feed Back Feed A Fowwerre| Sbuckure +] Shuctouwe once. distustane ventou o \Dintureane coe mn, cerstised | Process, Uh must prepage before oy enter Bre poocors Precess and force the| ang Yecl Volue ¢ ont Veeticuble tp devia ranulas avant te before comechive ackiins 2 le tain desire contvollad | Voouauale . 63 Residential Heath system ly Heat Exchanges pritotone —_ os fer as Fe(a . ‘© Eleurical & Mechanical Transfert funchion Medel: Ih contwl theo, transfer function aio_ cormmo used bo Uhoacterize the “unput ~ottlpu welolionhlp q components oF Susterns that can be. desoribed| by Liner Lime ~‘Voriant diffeuntial Ca uations SEnput Ttranstes Reso | function ouput Gics) . ccs) Transten Runckion Oo linear Teme ‘unvarticank System) % depinad as de ratio 4 Laplace “ransform q the pukpub — bo the Laplace. Lranstorn 4 khe in pug undey whe cvsurphions frat all “inikial conditions are Zero - _ (s)=¢Csy — Rs? zero Lnibial conditions bet us consider a Lnoos, Teme ‘uvotant y fie ler inod by Flowing degrenonticd equation: | (roy? tag raed +814 Fn) = [box + bt ss tb, et Peo} Wher ham , 4 ouput q im X~ input q sim: ne 4 S}m“Bking baplace “pransform pry both sides , | (AP UP aS F. -4.q,.)S +4,) YES) = | (hos SY bey) Stop) Kes) « Transfer teunchion : Giesy= ttoubpub ) ! | LC input) ., tia) -o Condition” —— Fab. Sto | Gres = YS) _ bos b, SL, thy, 3 tom “Xes) = Seana . So 84 ay SPN ns HARSHA using the Concept 4 Transfen funckion | 0) Calabale Torcler) 4 Supstem by Enon ng highos power 4S wh denominator | an calculate [ype system by number 4 ©pen- Loop polos at te origen ° . Nera orden gs system bb > th bype |The Transfesy Cunckion 4 OQ System vw given by K6+6) ——— + Deksomine SESH29(CS4H S45 412. Ay zeros, (b) poles, > Characteristic enn WY) pob-cero Haga Gres) =Solubion - 0 Zeros Numerator “eins eqal to zor « Sib=0 C11) poles : Denominates osu eauceh do cers + § CS+2) C845) (SHS 412) =0° Scstao Cet5) (st4) Cs43)=0 wip characteris equabion S08 429 6545 (S448 412)= ° (a2 = (s 42S) (S34 45% 419 Sea 35 Stood =0° > pth 127 S+5st4 sty 96 03 +124 60% past 108+ msty 2 2 TeS +2434 l2oSsez { ‘en ° | st ls Hlist4 1189 4154S" +190 5 ( pole~zeno plagram + Re cs) | |
fe (5) ©“Mopesiing OF ELECIRICN SYSTEM | UE ELEC SYSTEM unl Inductor, ciloy dee the three basic. ‘A an Clectric Sircuik. The circuit 4 crip Hy ap Py Gpelicabion g, Kerchhott volbage Ard Cuore: dows. Vs Comider an electrical system q fue Sentes Cerauk Find oub “Wanster function | 1] NW aiiigel ew) Ze eT \vewn +} Solution: sistem ecy nation : ecty= Lede sein t [ide —>O Crpely ky | Toxking Laplate Transform on bath Sides - ECS)= isms) +Rrcos> tae Lfs? + Ecs> = [Estee a Tres) —@ leno | Element syenbol | Fans, vem ESO * fegeate PRES |eteoa fea - . ic Ry ' Rosinkor haa ee LG KR R xcs) fee - ~ ———— a Erductow oo L- dite» L$xrcs>Assuring al initial conditions to be zexo Fo=[hs+ Rid [xcs Ee =[Les?+ feo 11 I [ e~ *[lestaneoe cS) 6) JLet the output Vattage \o¢t) be taken acsuss the. Capacitor, c. Then, Vou = Sid —@ Taking Laplace sransform on both Sidos, = s + ver “8 . Wanster fundion b given by, Gus): Vols? _ 155 Joes ees) [ess Best) Jes laps) Gis dz. Voc? - a Fis)” Les%rcs +1 Blous Piogram Repowsentediisn:- Fes) J. Les*tecst) [> \pts> Sus) Thi % Second order system Since. host power 4g in tre denominator, is 2 , —— xa Determine the bransfen function ] electytca] | System as Shown w Figure - Ry = Solution + Loop eoyuation :~ Cappy hve) Vib = By deed 4° Ry Coty te fice sd —O Taking Laplace swoansform on bokh Sides , \ (S) = Te + Rates + sero: Vics> = ee <[a tna 1492425] es | —@. Oud pu eqquation'— Vptto= Ra tt+ fic dt —>-® “Pttig Laplace “ammionn on oth side +1. ’ Voters RetOrtee Tes) Vows = [Re tela |@. Twanctes function: Vols? _ fete] te Vics) TR, +8.+ &) xfs»es Mots) fecst! Vics) Ricst Rast Sobkain the Lyanster ftncion fer clectsteal nettumte + Lek hp ice cof ine me \ = Solution: Apply kui te Loop a: Vi ces Rice + LP pice - loctoddk —-O “xing baplace tramform on bobn Sex . \yesr= RCs +L fxs -Tacs> | W@ +A. Tels> = [Fra | r,s) - Ts>= |Wes> cs +zacs] /¢b Tas gd Tis) = Viesvycs + T2659) | 1 Res —& Apely Kvb to loop a, Ria +2 Siachode + A [fisces- ies] dk =o L@®Taking loplae Transform on both sides, ! Rie m+ ot Te (s>+ ag (t2ls>-T,¢s 3] = o- Hts [r+ tstaj-d Tes) =o T26 {.248es ) = res) ——@& cs cs Substituk |yce> = Ves) cs + T308)) “tRes |” > & ® be comes ; | Tg cs? aan) . ff Wosoes + tots) cs . | I+RCS Tp (8) aaa) = Wes) 4 Ze ¢s> \+ecs cs CitRes) Xp (s) |2+ Res ' _ Wes) “cs ~ estit+Res ~ \+Res 5) Ves) Tats) [@+ kes) C+ Res - -l eS 4 tad es ope agcs>= Nees) es I4ASRCS+R2C7S? Tecs) [itsees tA Cs? J Vjcs> = cs0 a . | ukgur — eayuabron Votes. a fics de® Takin baplaw Tramfoomn , on Donsfer funckion: 6 9. Vyes _ TK fog wets) - REA iS Ba@ocriaRst eee he “1Gi0sy= \pes> Oo Ve s> [+3 8¢S+R7C54 Block Sige Representethion - Mes} en = TS Rcst ROS Veo x 4H: Obtain “Transfer function fo “Fallousing Chctrical Nehoowts - + - 8 \ | - Aw Vice ey) + Ro Co xi Golurbion = . j— . | Step a= Redrawn the cercuak tn tes q° dora Rg, ’ 11 + vee Be, G2 = ker | Votty step a Apel Votkage divider cule, Vots> = Vyos> @ Ias.) (Alle) + (|| se) MOS) Be foca Vics) Rott (a= ; Fa [eco Rrvge, Bot leeo Vets) Re Vics TL paces + ! Mies "Ras Voesy a = RL 4B cos ies > eta Face = CIE RCS BCBS) aes SiCHABESS? FRC GCS) RB CaEESP. (+A) CH Bata sy Face mcys)Nocs>= a CRISIS + Vics) R, Cit Reco +82 Co Rees D - Trans ee Gig Nos? . Rat Airs " YS) Bea By SRR Co HS BOC, B+ FRACS > yes RieAa TSHR 4 @ a Ao TSK Bo l2t SB VALS 5 ots). Block plogram aaa ——* — Modairg q secnieal ‘uphemt | the equation g motions ara forreuloitad joan Newton Jovy 5 mokion - A eel en ray hove either Fila ve) [Blan [Motion take place tn Straight Cmotoorn uid bo “Wo yokahion | Jinres] lp — Fort (Newton) Tp Tome (n-m) ofp —> Diaphament (metre) 91> Angular sixplacam (> 1 Moss CM) Ckqp I Moment 4 rneatia CT) 2- Spang Ch) (n/m) 2 shaft shetenes Lk) 3° Damper (8) (Wleadlsecy 3 Vstous friction( 8) Pi Cogppicient -randlabonal Mechanial 3s : P ‘=a See nm taplace P \ mfr vattal has Mare | FEDS p08) L h 2 [Sprin k Fe) = | B sk = 5 -6.d ompr | bebe [fe Bae [ro esx Mass stores Translational — kinebye Erange) clue. lo te Veloc - while seg stoves srwanslabional a which due bo ibs position Pamper oF ouhpo » copable 4° dissipaling cogs —— *& —— *® |. wove “the Diferntial Eqpodion Shel toanslakisnal Me chanical system 08 chews ie A debesumuy tre wanster Fundis np OV ma = , ee n roleer TIT APT rrr” 8 ba. i ~ X68) ying | e3 [Hint [esdSobubion ——/ Sept: Draw the 2 P= Re bo. Aeagecien Mass Clorrant My! . “{ 4 K+», fx, [— fm, — °4 Hsing Newton, low g Motta , Sum q “ppasing fore = sum 4 Apelaing fore . Ft fests fic) te; = 0° Differential equahion:- 2 [ind + BEC ~x) + KOE) + het 81 dX | Se iStepa + Taking laplae Toansform on both sides . ° . M, 8’ xjes) + BSL x/CS)—x Os] 4 & De icso- 059] +, x) 089 + By) S ™Cs)=0- 108) [1,874 ky ++B) St BS+k]-x(s[ Bs +h | =o [ypcsd= ACSCBs HR) [ Mye24(ky HK) 4@itO)Sis 38> Dp tho. ° - Peer oem “res Bedi) dlngram q riaas elerant| «x | %& [ Pat t¢ | Me pf ga, +A | BH, Neboonm at law q motion fcto= fms tfe+ fat far | — >= My a? =x) 4+ B84 (x -x«D dx [fee 2 + HO dD al xr +620 : { Shpa: Ting Laplace transform on both sides , F(sd= My 2x) + K(xC2-¥10D) + BS (xe59- XCD) + Ba SCR, | Fesde [My sty (B25 +BS)4k |x cs ~Les4K] (82 « Substitute x) 05) Value te above eajuation- Fos) = [Myu? + CBS 48S t kT xcs> - [Bs +k UY) res (BSH > 374 Cy He 4B:4 | faos|es*c0.54 BSI+k)~ (a Stky > M87C4'5,t KCB ABS_| CS? TRG G22 XCS)_ 1,824.08 HBS + CK FH FCS) [op s*+ C82S+ 859+ KY (MSC eB +O (4 any. . . .' @® e. Delerming Transfer function mn for Given Aiagrar, 7 (*. Hint: Tr = Yocs) Fes) diagnos q mass ‘oye By Newhen, Ir low, Fey = fy + fe rtat fm, (" = WY TBM YK (yy Ma at “ae Aprly Laplace Trramfosm on both Sides, shp2-- Fes) = hy Yy0s+ 8S) 4 K[yils)- Yoes 4m S MCS) Fo =[h +BSth+m,s” | ¥Cs>— kK ypes> - Yes) = Ets) + KY? 3 @Ya ts? | MS4K —k _ kK FCS) MsuBetkitk | ~ 7 Draw Wee heel ogra sfoy rroas Ma" ps —$M2. #y, By Newkors Ir uo 4 Moin , fp 4 Fx =o Mp A? d*y ae tK (y2-¥) ) = O° IStep 4 = Apply Laplace manor , Mas” Ya (> +k (Yoceso-y,¢s)) =o [Mest kT — KY C8) = (M2 S*4k ) y2¢s) — | F6S?-+ KYocs> - M974 BS4CkK 4K) | M974 S414) TIN Transfer funckion (Oke pc * a Deno: gee) Gesr= Yo CS? _ kw — = FCS)" (Me S74) (M874 BS4KtK) ~k> ———x - x, 3: Determine reanstet function for. the system Shown w Figure, _ fox? } 190° 3} frp —sece ) = Solution: - fer x) be tre displacement ot irq pone | | 4 Spain ard dashpots Hence System has tu nodes, | Meedt ont @ Spe and dashpok - WowM & Seti Point 4 roy : Diagram be comes » wick) aCe) pn tet fay ten w Ba re] py, Step 4 - wo 00 cocky Bagram 4 mas | M=0 rene face ee o=f, +faa Oe Kxyto+ Bay dC niet» 20) TOK 1 LT Bgg tk) ¥1 05) ~ Bg sxts? = 0 - xts |.Stop 3 cid . : . P= Poa gree beady dingo 4 ross 6 M, b> xe > fea fq M Bi Fete) 84 Newkom ar haw ay molion = fev r= fy +tetfen - ftty- Md*x Ba d&—%1) ces + Bide + PASTE “aking taplaw Trane on both Sudos , Ms? x eo+ Bex cs + Sa SCxcs)- x \(sy] = Fos) - 2 4 [ms +@,+ 82)s] xcs) ~Basxje= Fosd - Subtitik x;cs> Valu +2 above eoyuakidn Ms? _ = (' +(B, +B29S | xes) —B9S [esi | x (SD= FCS) TEE XI BStKH ¥0s) [ P+ (B,4B5) (Bos tk) -(B2 sy _ _ ee y |Rotational Mechanical Siystem. Mechanical Austere evolving rekon around a Fited axis we often Seen tn Machinenies Such 0s busines, Pumps, rokaking discs, gears, Aenerators , Motoy and So on- rb Conatabs 9 wotairg duc 4 moment 4 Aneatian Tv shat She fross 8 the disc vokakes th 2 Viscous Medium with aVetous re “rue cle Tome domain | laplaco Shol Elernant | Gupl Re geration bapa | Moment 4 7 i 7 Two To- 78 ers) 1 | trentia’ | & ath? “Ie : shape k | IH) Ts KO Tee= kecs) | Stiffness xt Ke a | i Tne (3 Wosction 6 IH} T-Bdo 1%) = Bs ets) __ Coefficient oper MY [iprlied —arenbia | Pampirg | coxsional | Towy uc Torq ue \erqus Toscyue.Dekeymine “tearsfer funcior. for Yuren Rotakiona) Solution n T= ht te + T= koey B40 2. aide, “aking baplace transfom on beth Sides, Tes) = Ko(s) + BS OCS? + Ts*c5> Tes) « [h+85+TS*] ors» —-© Transfer funcbin . Gics)= 6ts> - 1 qs Jsyesth tL \ Gis) = Fear este, \ eee Bloos Biayram Ropresenbaliion :~ a eset 5? 5 (8) = Shas ss Ss Usher |Rotational Mechanical system - — & |) Dekerming -Fransfey funckon for the abiasing Mechanical Rokational Suystem » 8 k qt SOOO ap, 0 T a SOluction : Step4: Draw Free Body dopa 4 pron wine 4 Unerdin. ehernant “Ii: +e RR HM 84 wating Newton co. dow q inchion « Sam 4 opposing fort Sum 4 Arpelying bora) we Tak =T Pee oneen st]? skip a Taking Laplace Transform on bothsides ,| hs?0,cs) + kK Tecs)-865) | = Tes? 009) Pr e+ ]- hers =Tes? . Gytsd= TS+K OO? Sis2 ®Spe Ss sty ape | mon 4 ca | Piet— 0 kb ey fing Newson, IC law ¢ tokio “Ug tT tTk = Sto: ering Laplace “ronsform on bob Sides . Yao? fs] +85 8+ (OCs? -6\0S)) = 0° 8(8)[g_s%y e+ «| -k 010s? =o —@ Subsbibab 06) Vb th £4 ®. ai ~\Kyresrt KOC} | 1G. BCs [Sess estk J psi. 7 9s) [T28%4 es tk] —_kTCs? _ ,2ecsd SS74k TSt4+k | o¢s> | Sast4 BS the K ‘| — yp |e RS =o Sis*+k Foun Step 5 Rane — OLIN, r) mW. IG ts) ~ 38) _ ——— Tes) Geo. b8, ts)” Ean 5% —— U: : &- vite the Differential equuakion for the Slystemn Shown th Hguse & determine “Pransfen function . Ky 6 Saeed ve Era T Hy Bia Sr = Skep 4 Draw Free pody duograro 4 moment 4 Creatas 5 TS Toe) oy, Te, Teta BY wae Newkor, I low 4 molion, Tpit Thy + Tee =T T,d2e 9) 48nd (er-e)ep —— TE + bi (0 8)+ Seg Bey >O seas meg Laplag. Trumforn on both sides , Tgousot x, (o(s2- 8} + Bia [otsr-07] = Tes ‘p10 [0 Pah y+ B22] — OLN F Bie Sb = Tesd © c9_ Tes2+ 0) Tk, +612 3) Tier Bi2S+k, —®Stepa- Draw Free Seay coger @ moment 4 Wertioa ‘Ig Ter Is, se Te HET 6 84 using Newton, at law q motion Be +164 Th, + Ter =° 3 Fe +842 + nfo -07 + Ong (O-OD-0>® - sedos Step 4 Taking Laplace “Teanstorn 07 both ' =e kh ec+ Bs ets+ by (ocs>— 9,08) ]46p S [Oe J=0 6(52 [tas?4 BS 4 bit B28] — 6s) [4 +O12 5 J=0 —@ Substituke 616) from e@twy eq @- 06 [as asth, + Be Sl ~ Tore ttens)] (R18 254 Ts7+Bi2 SHk, ots) [ee +6051 i 4881 BaStsi]- “Lites, tes Crrt 805) [me2re + Byo +R] ; “HegdSie) “Transfer funckion -{ocs)_ y+ 62 S ~ Tis) ts*4eos+ K\Lbs of rest estes | TkiasastArmbogovs Sysrem (wily Sorrakimes Mechanical and other Sydern Converted] inko electrical analegeus clystenns for the cay 4 ctanttin, modifickion and A vu Systems rare Samo type. differentral eyuakions. | There an. four hipes 4 Aralegies hamoly, UW) Ferce- Volbrage. Analogy Ci) Fore — Curent Analogy (iii Tosque- Voltage Anabogy ay Toreue. - casment Anabog'y: The “Ganlabional Mechanical aystem > vepresented by reas, sey and damper wm syuation , [MBps ed rnc = te} —O The Rotational Mechanical em b sepraented by moment q tnertia, Sprine shapt ard Vis cous fesickion Coefficient — equuction , \oee 924 koe T |. the electrical Suptern b vepresented Telukey, Resistor, Capacitor feu 4 volbrge, QO ¢| ‘| 4Vi = edicts Rick) +A fiae But a le, cuwent “in vache. 4 flee 4 chase . The electra sysem COM be ‘represented | capactter, Rosintey, inductor to teu q curment me [=] os where” yo fuLx linkage ts ed*y | de, dy a+ Rap tt tt? \—o dt Comparc enyation O, ©, ®,® which gives ey uivalent parameten Lt in given by Table « “ino| Tela | Retatinal |, ein ahitlinge | tle gi fy fF TT va cs) 2) ™ a - co 3 _ 8B B oR | Ye, | J joe Ke | Ye 5 xX in o C _N po rel vy | a \ ct) Vee>@ ( Dvaus the Fore -\yolt & Fore Urwent arnale, fox be ellonatrg System a3 shown in iq. ot Ft Cy WA Ko. Tdentify Cquinalent eloctricat Aipterns in bewryy 4 Voltage - | Ft>= VE) Bia= Ry hee Yeo hie & ia = Yep Meu Me -bo v, > iy Vo = ig lt)Step 3 : Taenthy eqyuivalent elucsa tous i long Cuomenrt - fe = iu) b= Vy Mi ie he \, V2 = C : ; Kio = Yayo. Mp ¢ = Ms = co Bia VB ye. . 8 . Sepa = Fovte + ——Garent nt civcuik pi is c bo Tk? hy 2] & ude a differential coalition for tro chaniah | System. 23 Shown th Fousy . Draw fore - » Nola a Force~ cunrent eb cyical arabogy cyceibe | Px WITTYStep Ar Dru free bo hagreun bs, $a —ty fe Re ay wang Newtons TE Jaw, Pars turstint Sep + £0, farmds pane)! | f ae +8 rake 4 Ry Oy HIF Bia GOra23] > O ae ee sy agro te Feo le \ ey Newolons ar Now, Smo4 Seo t4eq 4 Fki tF ei. = 0 ~ Be bye Oe? vend One +) a — ” ke Fme= Voltage bnaloyy. FG@oceky Ms Bre fh key Vis dict) Moslg Bae Re ky =| V2 = tg tty Bao = RioWY Step Force curerent Analogy s system Feo i ithy Mec Kiem, 6, - ey Kp = ‘ho Bo =VRo Br = VR n+ CoTk Vo Wtey My Hey Va 5 Vott > iG Draw the Toweyue - Vo & Torque currrent: Nralegous System Por the Me chanca} Siptem . 2 ky Per A, Ws oe VSG] sy “Tes 718, FA Be pes . TAN UTASteps — / @ ae eoyuivalent “aaa Sp Sypterns t-te Teh = eck) ely ‘= Ye, B, =F, OD =i Be ho=ke Bo = Ao Da = tafe) Tp ary 83- Ra - 3 = ig) 8, to ee L3 Rs i) “ ew) Ev Analog ous Si Step Hank SAivalent: elechical sistem th teuns 41 CUwrENnt - TH 34) Tec, hye My B= Ye, Wr = vy Jo = C2. boey, BE, We = Vo B =e 3 = Vy 83 = MeyDau the Revue Volt — wore ine carment Syston for the—ettng ‘wechanital ‘robatioral afm: 2 9) eee ka ae eho = ey ba a B FRPP FV OT TF PF PPG FG Draw “Toro ue ~ Voltage covet diagram . “T= ety Srety |k,- M, w= ict |Get, We = dat B= R) ko Yen | Ba=Ro Skepa :- Dw Torque —crmerit Circuit eagram - Tig) Seq Kae ly w, = Vay Sasa, 6, - Ye, » Bhs Vg Gey Ke My Ba = Veo. : "tg tn dey WD Ry & eh St cLPpBrock Dircigam Reouetion Teconique A control’ System woul have oo muumben g._ control Components: A Control Can te ep in Chock dtaagrarn foo = The am head * pointing Fam % porbirlos lolock indicates tnput ho the System Component and avasw roced Accling cana from No block indy cotles output: Block ou . possible to eveluake the Conbi bution 4 “4 Componants tovads vena Performance 9 contral System - | Ry ed funcional sytem move ton exomindid, aptern phipically a be noted thak Block diagram ds For a system ne dt luriayuc + a Mek Abram sprcriaion 4 dd lap oul FO Epa 1 pat ee © Re 6ts) Hes Blow dinero b also called canonical osm: oh ° peration 4 aca ated’ EGS2= A(so-Bes> | : . ‘ Bcs> = Hes).Ccs> Ris) = € cs +805) = Ecso+Hcsccs) = Fes) + Hes) ECS? Ges? + too [Reso = EG + HES) ECSrGcs5 ed Loop 7 ccs) EcsoGs> CLs Funckion . Ris) Fcsy+ HCSDECS)G (sy (by ECDGesy on Nady) = al + ho5)- Gs) Tre CoS _ &its) Rls) 1 Ges His) ~~ Negative feedback, Tes Cosy | Ges) ©) —> posihive feed back Res) I é~eHes> TR ds GOS, Unity feed back Res '£GvCs> Cie. Heso= 1) x - Redes _ for hoot vingeam ran sunplifration There a0 Sore wiles which helps to Simplify ® block dtagram 4 contwl system and there are | fitvee basic Shonen dy Block dragramBlock, ig} [B= Aces y | “ Summing potnt- rO> Ae J Ciiiy Bronchig pout - Te [B= na] A Block: Tk boa Symbol for rathemabi) operakion on he thput signal bo the. block that produces the. Oukpub- : a eco} — [B= Aavs>| “anaalcy ib a > used ty cold two or move aural, wD the sistem B Brand point : Uh a polot foc, which the seqnal from a block goes concurrent by Lo othen blocks oy suraming | points BF, ee [ena] AAube « : ‘ting the bows in Cascade. Atte} AG Ga > Fel ase, . Rule: combuniun poretlel blocks fox Cemniniing feod_ Fonvata paths» - AGL G ACG +G2) A RRR! 7 Tats ne.) Rule 3: Moving be. branch pocot ahead 4 block. “ska Me} —— ag ea 4 % A file 4: Moving breundh pount before the block . A g “aire , “ders AG tates Fules : Moving “p Senerg point aheacl 4 the block Bi meres — ofa} % aim ? s a oro AG Rule ©: eliminakroys 4% Positive feedback Joop “ET ote."@] Rule 1 Moving Surresing Point: oe the block , 8 By A hh slab Ne AoE = Rule ¢ Trberch; age] Surmening pocnt - B-— 8 AB AtB-c a > Sars —>A-c+6=A+8-c| ¢ c [Ye } De. Aes A+ Bh, Rule q: Spltig 7 poink, - 8 hk AB c a—— AY A+6-c. c Rule to: Cambiring Sumeriing slocupank ee At AdB-c 6 A — aN Ate-c. c © | Rule ty: oot ragaleve feedback Loop « (R-CH R - we, R sani cH PTF CRcHdG _ ” ey 1 C# CHG ERG => So WeNola: * Branch pPounbs 2 summi Mlerupaviged . eg potnks : cannot be * No Sqpuose_ teoun, éry the Transfer funckion » — & ay Problorns i Cc : |b Reduce the blot diagram and. find C/e, step A+ Move the btanch pour ple fhe. block, ol”'@ Stanay Frow Gran Moper : For Complicated systerm, Block reduction Spprroach for crowing ak framfer_ Ponthion relating the 4rput and! output Variosdes ts bedious and “Eime Consuming - signal Flow (sted & an alternaie| | cupproa.ch Aeveloped by “o-t-Mason- Et does nok WOO ULee ~weduchion process becatise 4 cwaileiliy {tow A gain formula which relates snp NT cpu ain ore ™ Repuibion ; A SFO) i a graphical vepwesentalkion 1% ‘abiorslin between the Vaxralles 4 sek 4 jinn, algerie eopabions - 4 contin Ga rebcork tn Which Nodes represent each s Voruiables are connected by divectod "branches - Some impooteant teoums in SFr ax a4 follag| PNlode. + | . Th wepreents a Systern Varwatole ualhidn & eayual bo Stun 4 all incoming sronal, ct the node . outgoing sterak fxm node do not affect fe . | Value 4 node Variable. & .-£ G 1 Sp 4 | Hew, F.E,C cow odes:PeTANGh s A signal strenyele alorg Q branch from one] Node > another tm divection! jrdicated be the branch anow and tw pretess, geb, ge roudtipied ty quin or hranemi onc: er $ => how, Gm branch & “4 tt c= GE 6 HD sone ue Node er Source 2- Te lances 8 se & Node coith only oubot 3 oe (4 => hom Rt input node or 4 { sounce . iy Dukpuk ede ov or Sink: It b QQ node with only ty! branches. Howere, thts Condetion i ral atuays 9 pet An additional bench wlth un yeah mot | be untrodurted th order bo mack the “yen tnd RY fg cf ae: : Se hee Cb output node oy Bink + W Path: — Tt & the traversal connected beanches to the. divection 4 brand) amrows Such. that no node, | | 8 Lraversed more Hon once.Wrorward path: Ze OL. path Prom input ppde bo Output node when no vie onenmnteey tue . E G cr ° | my si, .. | PO he as 6 | i> eomanoe uth ~ \ Ser. BA preduck q beande | Ru & Ge . | o-—_+—_ ; 2 here “Gi & path qrutn) Ao? forwaad Pelr pe Vill) Loop: wha whtdh originates and | errninartes ct the Same node - Rr EG e | Som > kexo ECRE 45 Joop + | Loe 1x) Loo jautn: - Te a patbtlack 4 boanch qains | encountered to traversi the. Loop. | R'E Ge v “ " ~~ > how. -Gn wb oop gain fer the $" foop E-cip-e. | *) Non- bouchi Acop i . one Tf they donak possess any | ptomeon Nodes me i cal non -fouching Loop:: | Masons Gain Formula: rd According tn Mason gain formula, the. overall c Thy expressed as, ™ x Be Pic AK Sak where p Path gat 4 r forum path / A = doteoumicn cunt the path. “bum q a u) Indisidial og +oum q chin vedic possible corahinahile q two non ove hoops? —=(aum 4 qain. pooduich all possible. Combinakioms 4 the. hon towel ing Loo pss) [Ass - Eln bz = Pn 02 Boat] a An= Value q a that pot sag fet ho nce cL _ - qr | system: Pos ger product mite possible. Combinatioy,| 4 ovr nen touching loops , N= kotol number 4 foruand pocths * — x —— x SFG problem ase geen by by either equation or oY Block dragon oF given as Teph-. \ 's obbain fino beunfer function iver. Hn Block, cisgrarn by using Sige lot graph: ‘ Vy Si “atl te [a = Ske 4 » * Sipra) Flow graph for “Ure syptern Co drawn | below , | rR Step 3 Finding out “sndividuial beeps: fore, thord cre Yee undividual Loops, Gass ane CO Ry = Guy | | Gi fa = Hoe. | Git) Pra = - Ga: | | i: 4 \ Steph : . . | ending out hip hon touckiing Loops wth go} Pig =CEnH) (GgH2) = Gyre HH | Step 9: : There & one vand packh ard au oops fouch} Me foruard path’ ~- [i =t) Stepe: Finding out A’ ; ; | Rz[R (sum leop gain + ‘Sung qeu produce ; all possible een | 4 all rindi. oops } 4 P | | tuo Non fnctong) [A= Coy Gata ~Cuba) + Gn Gavia | | ee Masons gain Formula: eee Pe Bx, | T= FO, GiGe } eS SMEG +O He FGGin 4 Gop th Ho. i |. fo aa | : (1G, Hy VCH Gig HD 4G, Ga || © & Obtain te transfer functiom 4 the followin See Lincart Saation im Using signa) low raph « Ape tight tys%g 4S = bogs + by ty Bay = Ay Aa hty yt by Hy AS = bag ta + Lh ep. Solubisn : | Her thput node 2; and outpuk node & 5° Sepa locate Lhe nodes 4 the acptem. Tokathy 5 needless and ck con be wpresertted by, x Xo x3 xe x5 x +) x. Xe > ye CO © Q ~~ ey) £32 ty : . ea LO ee ci) % yo to3 %3 YH XS te a po" By 6 ey | tii) wa x3 bp My ke | ta — eg) | $ ° o Ww ‘ 7 BB m ‘ | | deg |“Ay eh 4 ntl et | Sepa Finding P= oud foo path qain : En tos tyy ty Po ty toy bys P3 = bistoc, Steps : Finding out thdividual feedback Leops . Pas tog ta. Pais baa tag Pate kaa, Py) = baat, boy Steps: There yo} nly One possible Combination. 4 two Ron bou chin Loo OFS by “) Pi2 = to3ta. thy an, ay . + over al} signal flow graph obtained by| Btep a: | the first 4c d Thou | UOT rd pian cs QU Loops, So | no tnclivicluah Leop a formed A=) e | The Aeohd Fenuoad path b elimmeded no dndividual hoop formed - 2 a; = >} The third Fond path & eliminaked tun loop io formed | [B= taytys Hy [Ctep 8: Masons gain Foonula '- | TRS AS PDI t Pe Be + P53 rr a | TP F (hatrs tay ths )16 stants ates (1-Lnga ty) | "Gag ta. +43, ty3 ty +4324 bo) + botedyy | | * Comider He block diagram as sho in Figqune - | Draw seg 2 pind out fam fundion * | Later eH | ry [42 k-— Soluteon » Neqative fecdbac, on block “oper Paar “te feta back gauntShp & Finding out Joruserdh path with path gain. Skep3~ Finding out individual hoops est boop gain Py =-S Hy 3 Pys-He Gin 5 F5,2- G33 By) = Gyhste by | sepa: Findieg ouk hoop gain product q dup non Rouching beeps: [Po= 4. ¥iGs 5 | & knew ib no Combination 4 mere than hyo hon ‘ouching hoops - A = 1- CG, Hy —G2b2-Gahs- Sy Hse HD+G,H) Gott 3" Skeps- Fiask fonvard path touches alll doops Joe) Second fonvard path B not ty bouch uelh one hoop . | Ao = Gig SEPE™ Masork Grain tomnula : Tele ha ak RK ig leant a} [7 Sees Guy, + Gy Goh poL Henrys oynalO Fae | Se ath Fr gH at Gay Ha He Ht }' ! Me 2 AG Servomotor The word seavo mechani Orianated from Me words “Seayank tor Slave) 4 Mechaeen! (he. motovs that cou Used in cuitorrabie Control 8 are Colled “corvomobyre. when He. tre | Objective 4 tho & bo Cont the posihion 4 2P object then es uw oad * Servo me Chonism" an elechatal oy pets 5 Eero whay velocily ‘oy 2 Sone motor movement &% Lhaft Bet en on spel ren). to wun molan| J ro OY Shag ol conkace contack bess, motor - 4 permanent Magnet Flecbormagnekie field | Motor moloy __] Asmatecse control miter! [> eybindrval avsmatioe molow > Field controlled moer I> Disc armature motovs > serus motor L> Moving tcl motows vsplitriels oko | Reoyuirremoris 4 Groed cenvowolor 3 (Wart should be “easily reve -yesuttle , have Linear, rage Speed —_ Uhararlnristics- C1> operabion should be stable — tvitheut ony“WiD beneas _“elabionship bekivenr Speed ‘rd electric ‘control signal 7 “ tiv) Jou mechanical ond ele ckrcal inertia - Fast Wespomne: bot stat . a, DE ansdutey wre De__Seavo motor :- gore Mo deaost| Haar niage. bts nee! —_——oeso pet * p,stator moqnel he % IC. Servometer establish a field ercss the | | aeuni pot talk sober the nots be dhol or hor Srnall santos, lamar | Th an cerornag nek moby staty % wound wit wire and cument! & fortad through th, windi cabled Held wind For ao constant field cument! tine re Flux" oombant 4 by Vorwe the -Freld cuwent Pima Be Vooreel the whkor & wound with wire. and | tov they tainding Coullsol ormatune usndj acumen: 4 fered ! theough the stalic "h erruther ond rroketing Conumutatoy . my |’ i 7 4 A DC Servo mobor b a Speci . ; : ° grad. DC mobkor wilh igh box ond Low [unortio - A genvo ma. chars yun os jcontrel system, i a feed Back control 4 open} ® Mechanar O whach ghpay be 80 utpat ¢ the idea a becnaton mochansca | position , Mokoy ase used 0 teup abe ‘contest wrod Fferonk a) Armature control, mode with Constant Feld. -urrrent — and 6) Field Conbol moda twith frod ou akire, on Ma nt Hay _ =n aah, method, Speed Vested” D> Ang ular a ne the Field Pluie Contant - the ee Couraduse cwilh Lead on ‘> Sha pe Moss | 4 Aredia ST ond viscous fy3chion Coete vent . . oefe at eas, aati «The | alon Veloce uw wo and van oeceloration | ne. Fame maar 9 AP co (warren: Ta ond field Play g .ogain b> Prper ke Ty.) war Tro = Kot. brite Tm hy Ke tp ToL O << ime Krta where kr= & Kp Tp claw edo Back emt, EB: KbN = igus ne a ° de ade os Tneatia boreyuo - Moment fee Arata Acces. T= Teo ~8 Prichion herayue = Vixcous Frichon doepe % Arg velaxity G = Bow = ode —@) ! Trav developed mokin 6 oO e3ed) Wedia Banas and ‘en! boraue . shut pe le TE Jaws q whahibna) mobion , 1 TH Tp 2Tm LToqe ed Pg ede tm 2k ta The, kSSeuntial eqyuakion 6 voli Guardihen | (4 ormolie ctrenik “Gn be on} then asf he Ag + Focla +E, v —© | | | | || . eI pony toplate Tran fowmn 4. auction @@ 6, Eptsd=kpsots) — > (874 By) 005) = Kp Tats)= Tmts)—-® ' (La 6 +a 4a) = ve5>~ Epes) —@® From ean ©4@ | Cas*s Bs} ocsd= ky WS-Enls laG+Ra ° hoon ean @ un the above, i (s+ 69S] Das + Ry] 60) = KeVCS) ~ Kp ky 008) (oe ¥ BS) Cla S+Ra) + ky pS] bts) = KE Ysd - Tramter function = pay kr VS) (T3298) (Last fa) eres NV. Tp et 8 LOIS HE) Clas+ha)+ky ky, | “Blour Ptoyram Reprvertabion Frm a@, we hove Too) = lL 19 V@> “E,08) © Sa St Re Frm 28), we Dove ps) kr @ as) SChet6.)Tats) — \ies>- Ets? last Ra [> Tats) iby . hike Signa} and §(5) 08 feedback Syne) Hho comipohanke > Tepreserted as, VG e VS)~ERcs) - Ey Aagdiin a , EG (S)= k,80)] ed Coren ng all -th above blocks, i will become - ys? | ie as) Leese | > 8t5> E pcs? Ts} ——_ 0 wkd eva - OrtuiTin = Ki lq = Ky Kp ip fg skip. Abo tied civuut eouabion , ede y Rig oO “Townjug eoyuation b, Fae vedo 5, ekig nnd Japine Tronsfown on above eam. (ips +85) es9= Eets) —> & (JS+855)p¢s> = krycs>---@) —O TEs Bes) sree. |e ~ CIs t+Bo(hp $+ Re Fem ay @, yor 1 Epcs > Les +Re From ea, ®, oes) sk ees) Ys4+ 8,8 Speed ar all the eqns in block diognam , TS PES Sstarre [oo / ——* Toy, Toa? Tb2>Tp, tom bin j FS) xAc Segve Motor):- EO IO TOR Ac seavo motors ‘ane tuo phase tnduchion moter guilable for ™ Simple me napa Oppliakions - TE has Stator thawing fou etd wees placed at Hq lec otfon ordey Ib produce a ro fietd on which motor aekion depends » one a wpphied fron tonstank Ac teferene Volbuge vet ‘he otter phase ack wo a field ane f & al trom. Output Sern befien . ” wm 4 retin contol ae a hb 4 whic sto . breton q rebabion. jer Referens my a "y Gant thy ero ped ad con bo Seen that wene for coo co vibval, origin wm ond ty elo adie w: wt todd canes becatnes Zero, phe mor develo Asceberation toryue, it Step. ch hence alse chou keeyue Vat zero Speed a Ucrwased oe. For nda). indtction moter the ~ratio % x2/Rs b&b high - But for servo mobos, yale, ratio & tept Loy b obtary Lineay, ! | | toreyue- speed chorachoisbice - High Value 4 Ra wul enw -dnigh ofan bergy ue’ Ty = Pleye > Ta > Tmo th CE-Eo) ~£(6_-6,) =D whee = om 2G |e e626, | | p= oe 28 lee, 626, ™ . . no Oo, Ta- Tuy = R(E-EQ-£ (6 -6,) RAp- 46 AT = mee (AT™ = Tw-Tae) and 50 on « - TH Tand f be the tnerba and viscous frickin wefficcent reapeditvey 4 the Load ,-the torcyuo equation becomes, AT = TAO +fo Ad = Rae —fH8 Laplace “reaunsfosm , (Je24 fo DAC(H= kK ZECH-FSKOS ). when on Ac maior b Used w posetion conbrh sipstemn, * operative pounk pocomes Eo= 0; 8-0, ho: 0, AE HE. 1 y= pcg, Km ats ECS)” S(%mS+)| | Synchnos . LA syndiow sryptem formed Area tonre chp, | 14 Hho dewicos cabled pine Gannett ‘a! the the ‘sunt conkrol tamntornen a % most us Oe oor “deleckor tn Peod bo ce control sptems moses and compares tp angular di ‘and Us output tala ca “atl ton wild| the bak park 4 seathine tata slotted fn accothodate three Y connected cody | wound with their axes led apant - the stator usunding, ara nok diveckly tonnected Jp the ac power ‘Source Tew exccikation ls supplied by Lac magnobic Fidd produced by the sober - The okot 4 a dumb bell conbruction \woh a Sin i rd phase excttation | Lance A Sst ‘yolkag. fo ofplied fo Yhe rwhie Harough tivo arnt Reattank cpuent produrcos O Frond fielA Od pu the t son, 44 7 . tthe, Tans fomman acon , unducos ‘tnducod on Stator, coil depends om oungulan Positio Cou asia with Ve peck to the whor ax 4 rb offen hriginey Sersébvity, Longer Life snuggedrens and Continous, otedaal capability \ Sinte three stake indi \ Evansmitter axe connected “veape ctrl 4, Ste ‘with tmee stator ctr 4 coal mal Stakow minding Andutd yo 4 synchro rananiuth, would couse Meme flew and produce a resultant x LD Obs - c ram formes which to bisun lath cate eecentent wher: The magnitude ¢ induced emp would be proportional bs’ Oy and Oo* 74 differance te: ‘ora? adit will be Sexy” ar.| , TA act, the induced emt well be moines: [ ntact , the. nitude Q induced emf-at lp, i je, acwss Wht formingls, will have vekton | €= Rig Sin(Oy- Oo) Cv sinove e = Ks (0y-8,) Up ©% Soll) | Ke» hopetfonalaty Taking Laplace Transtow | Onetae: | E(sy> Kd byl? -0,(5) | | EG) = ky Becs) Febck ow _ | oe mages | 64(9 be(s) | | eX) Ecs) | | | | ®(s) | | Ko = Ecs) _ Ec? i | bE By (59-8 (s> | | whore Rg & Rnown % the Sensitivity or the ayndves cae Used widely ch conbol debectors and enco - becouse | Suppers 0% ~ _ and Ing ep. anal agar [P OONNADY Sp reat,i - Convicts 9 apprepriok. Number 4 Seperate, j 880 Systems - Coup Lin ebteds are considera 24 (disborcarc to Stpancte tontnl s aind rray not ne Siprecant ton in “thal performace the Coupling & weak’ - Th ib Mave Shwng int end ‘i tom if feck ror than ore. oun ™? appreciably there dow fun . ; % controll, for each Hayter 1 Pra fev desta wd gn oO pling coribwllen bp Cancel tie’ interaction Pet al . cid Dexia & Si tontreller -for mubhiVertable | | System. Faxing intenackton tnbo akcoun. | \b> elevation orgle Sewomechanism ane is % because Interaction appect - this naval await -