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Ch1 Introduction
Ch1 Introduction
CONTROL SYSTEMS
Radar Dish Mechanical Engineering Department,
Middle East Technical University
Armature Inside
controlled Outside θr input
dc motor θD output
θm
G
Gearbox
b
Control
Transmitter
θD
Input
p Response
Control
C t l
System
Automotive :
- Directional Control (Steering),
- Speed
S d&A Acceleration
l ti C
Control
t l,
- ABS – ESP,
- C i
Cruise Control,
C t l
- Climate Control,
- Engine Control,
Cont ol
- etc.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 5
EXAMPLES of CONTROL SYSTEMS
Home Appliances :
- Home heating
- Automatic washing machine,
- Refrigerator,
g ,
- Microwave oven,
- Toaster,
- etc.
Aviation / Aerospace :
- Autopilot
p Applications,
pp ,
- Space Vehicles,
- Missile Guidance Systems,
Systems
- Target Tracking (radar),
- etc.
Manufacturing Industry :
- Automation,,
- Robotics,
- CNC Machining Centers,
Centers
- etc.
Steering Direction
wheel Automobile
of travel
rotation
PLANT
Process
rocess:: is an operation to be
controlled.
Examples:
- chemical process,
process
- economic process,
- biological process.
Steering Direction
Di i
wheel Automobile
of travel
rotation
INPUT
Steering Direction
wheel Automobile
of travel
rotation
OUTPUT
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 12
BASIC DEFINITIONS
Steering
g Direction
wheel Automobile
of travel
rotation
Disturbance input : is an
an unwanted
input that tends to adversely affect
the value of the output of a system.
Disturbance
(Side wind)
Steering Direction
wheel
h l A t
Automobile
bil
of travel
rotation
Disturbance input : is an
an unwanted
input that tends to adversely affect
the value of the output of a system.
?
Gas pedal
position/ Speed of
A t
Automobile
bil
Throttle travel
opening
2)
) Closed Loopp((CL)
) or Feedback
(FB) control systems.
In an open loop
I l control
t l system
t
the output is neither measured
nor fed
f dbback
k ffor comparison
i with
ith
the reference input.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 20
OPEN LOOP CONTROL
Reference
Disturbance Controlled
(command)
input output
input
Plant
Controller or
Process
control signal
Outside
Temperature Room
To Temperature
Tr qo
Can you identify
control system qi
elements ? Radiator
Valve 22oC
20oC
24oC Water
Temperature
Hot water
Tw
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 23
EX – 1 / Room Temperature Control
Depending upon
- how long ago it was switched off,
- environmental temperature, or
- the mains voltage
the drum temperature may have
different values after 2 minutes of
heating.
“Any
y control system
y working
g on a
time basis is open loop.”
- Sensors or transducers,,
- Comparator (error detector),
- Actuator.
+ Valve -
Controller Actuator Room
-
Hot water flow rate
Actual temperature R
Room ttemperature
t
Thermistor
Sensor
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 33
COMPARISON OF OL & CL SYSTEMS
Another
h classification
l ifi i off controll
Systems - according to the
objective of control
1) Regulator
2) Servomechanism
Analog – Digital
Manual – Automatic
Active - Passive
C
Continuous
i time
i – Discrete
i time
i
Multi
M lti input/Multi
i t/M lti Output
O t t (MIMO)
systems will be the subject of the
graduate course ME 511 Modern
Control.
l k
leakage Water
Adjustable
length for
setting the
Buoy h reference liquid
height hr
Discharge
g
Flow
Eyes Speedometer
Nise,
se, C
CH-1