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ME 304ME 304

CONTROL SYSTEMS

CONTROL SYSTEMSMechanical Engineering Department,Mechanical Engineering Department, Middle East Technical UniversityMiddle East Technical University

Radar Dish

r inputArmature controlled dc motor

OutsideInside

D outputGb mG ear b ox

Control

Transmitter

DProfProf

Dr Y Samim ÜnlüsoyDr Y Samim Ünlüsoy

Control

dc amplifier D

ME 304 CONTROL SYSTEMSME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy11

Prof Prof . Dr . Y . Samim

Ünlüsoy

. Dr . Y . Samim

Ünlüsoy

Control

Transformer

dc amplifier

CH ICH I

COURSE OUTLINEI.I. INTRODUCTION & BASIC CONCEPTSINTRODUCTION & BASIC CONCEPTSII. MODELING DYNAMIC SYSTEMS

III. CONTROL SYSTEM COMPONENTSIV

STABILITY

IV .

STABILITY

V. TRANSIENT RESPONSE

VI. STEADY STATE RESPONSEVII. DISTURBANCE REJECTION

VIII. BASIC CONTROL ACTIONS & CONTROLLERSIX.

FREQUENCY RESPONSE ANALYSIS

IX.

FREQUENCY RESPONSE ANALYSIS

X. SENSITIVITY ANALYSIS

XI. ROOT LOCUS ANALYSIS

ME 304 CONTROL SYSTEMSME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy22

CONTROL SYSTEMSCONTROL SYSTEMSCONTROL

SYSTEMSCONTROL

SYSTEMS

OBJECTIVESOBJECTIVES

To get familiar with

To get familiar with

various control systems and various control systems andto introduceto introduceto introduceto introduce fundamental concepts and

fundamental concepts and terminology of Control Systems terminology of Control Systems terminology of Control Systems

, terminology of Control Systems , classification of Control Systems. classification of Control Systems.

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy33 WHAT IS A CONTROL SYSTEM ?WHAT IS A CONTROL SYSTEM ?WHAT IS A

CONTROL

SYSTEM

?WHAT IS A

CONTROL

SYSTEM

?

AAcontrol systemcontrol system

is a collection is a collection of components assembled to of components assembled to produce a desired response for a produce a desired response for a given input. given input. Ctl In p utResponse C on t ro l

System

p

ME 304 CONTROL SYSTEMSME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy44

EXAMPLES of CONTROL SYSTEMSEXAMPLES of CONTROL SYSTEMSEXAMPLES of

CONTROL

SYSTEMSEXAMPLES

of

CONTROL

SYSTEMS

Automotive :Automotive :Automotive :Automotive :-- Directional Control (Steering), Directional Control (Steering),

Sd & Alti Ctl

Sd & Alti Ctl

- - S pee d & A cce l era ti on C on t ro l , S pee d & A cce l era ti on C on t ro l , - - ABS ABS --ESP,ESP,

Ci Ctl

Ci Ctl

- - C ru i se C on t ro l , C ru i se C on t ro l , -- Climate Control,Climate Control,

Engine Cont ol

Engine Cont ol

- -

Engine Cont

r ol , Engine Cont r ol , - -etc.etc.

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy55 EXAMPLES of CONTROL SYSTEMSEXAMPLES of CONTROL SYSTEMSEXAMPLES of

CONTROL

SYSTEMSEXAMPLES

of

CONTROL

SYSTEMS

Home Appliances :Home Appliances :Home Appliances :Home Appliances :-- Home heatingHome heating-- Automatic washing machine, Automatic washing machine,

-- Refri g erator , Refri g erator , g, g, - - Microwave oven,Microwave oven, --

Toaster,

Toaster,Toaster,Toaster,

- -etc.etc.

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy66 EXAMPLES of CONTROL SYSTEMSEXAMPLES of CONTROL SYSTEMSEXAMPLES of

CONTROL

SYSTEMSEXAMPLES

of

CONTROL

SYSTEMS

Aviation / Aerospace :Aviation / Aerospace :Aviation / Aerospace :Aviation / Aerospace :--Auto p ilot A pp lications , Auto p ilot A pp lications , ppp , ppp , - - Space Vehicles, Space Vehicles, --

Missile Guidance Systems

Missile Guidance Systems

- -

Missile Guidance Systems

,

Missile Guidance Systems

, -- Target Tracking (radar),Target Tracking (radar), - -etc.etc.

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy77 EXAMPLES of CONTROL SYSTEMSEXAMPLES of CONTROL SYSTEMSEXAMPLES of

CONTROL

SYSTEMSEXAMPLES

of

CONTROL

SYSTEMS

Manufacturing Industry :Manufacturing Industry :Manufacturing Industry :Manufacturing Industry :--Automation

, Automation , , , - - Robotics, Robotics, --

CNC Machining Centers

CNC Machining Centers

- -

CNC Machining Centers

,

CNC Machining Centers

, --etc.etc.

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy88 BASIC DEFINITIONSBASIC DEFINITIONSBASIC DEFINITIONSBASIC DEFINITIONS

PlantPlant

:: a physical object, system or a physical object, system or

PlantPlant

:: a physical object, system or a physical object, system or process that is to be controlled.process that is to be controlled.

Automobile

Steering wheel

Direction of travel

wheel rotation of travel PLANT

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy99 BASIC DEFINITIONSBASIC DEFINITIONSBASIC DEFINITIONSBASIC DEFINITIONS PP rocessrocess :: isis an operation to be an operation to be PP rocessrocess :: isis an operation to be an operation to be controlled.controlled.Examples:Examples: chemical process chemical process - - chemical process , chemical process , -- economic process,economic process, - - biological process.biological process.

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy1010 BASIC DEFINITIONSBASIC DEFINITIONSBASIC DEFINITIONSBASIC DEFINITIONS

InputInput

:: an effect (generated outside an effect (generated outside

InputInput

:: an effect (generated outside an effect (generated outside the plant) that causes the plant to the plant) that causes the plant to behave in a certain way.behave in a certain way.

Steering

Di i

Automobile

Steering wheel

rotation Di rect i on of travel INPUT

ME 304 CONTROL SYSTEMSME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy1111

BASIC DEFINITIONSBASIC DEFINITIONSBASIC DEFINITIONSBASIC DEFINITIONS

OutOut

putput (controlled variable)(controlled variable) :: the the

OutOut

putput (controlled variable)(controlled variable) :: the the quantity or condition thatquantity or condition that is of is of interest and thus is controlledinterest and thus is controlled..

Automobile

Steering

wheel rotation

Direction

of travel rotation

OUTPUT

ME 304 CONTROL SYSTEMSME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy1212

BASIC DEFINITIONSBASIC DEFINITIONS

Reference (command) input

Reference (command) input

: :

Reference (command) input

Reference (command) input

: : a signal supplied to the control

a signal supplied to the control system which represents the desired system which represents the desired system which represents the desired system which represents the desired value (or variation) of the controlled value (or variation) of the controlled

output output ..

Steerin

g

Direction

Automobile

g wheel rotation

Direction of travel

ME 304 CONTROL SYSTEMSME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy1313

BASIC DEFINITIONSBASIC DEFINITIONSBASIC DEFINITIONSBASIC DEFINITIONS

Disturbance inputDisturbance input

:: is ais a nn unwanted unwanted

Disturbance inputDisturbance input

:: is ais a nn unwanted unwanted inputinput that tends to adversely affect that tends to adversely affect the value of the output of a system.the value of the output of a system.

Disturbance (Side wind)

At bil

Steering

hl

Direction

(Side wind) A u t omo bil e w h ee l rotation

Direction of travel

ME 304 CONTROL SYSTEMSME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy1414

BASIC DEFINITIONSBASIC DEFINITIONSBASIC DEFINITIONSBASIC DEFINITIONS

Disturbance inputDisturbance input

:: is ais a nn unwanted unwanted

Disturbance inputDisturbance input

:: is ais a nn unwanted unwanted inputinput that tends to adversely affect that tends to adversely affect the value of the output of a system.the value of the output of a system. ?

At bil

Gas pedal position/

Speed

of A u t omo bil e position/Throttle opening

Speed

of travel

ME 304 CONTROL SYSTEMSME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy1515

BASIC DEFINITIONSBASIC DEFINITIONS

Controller

Controller

: : a device a device ( ( or human or human

Controller

Controller

: : a device a device ( ( or human or human being being)) which adjusts the which adjusts the controlcontrolsignalssignals according to a set of according to a set of signals signals according to a set of according to a set of predetermined rules. predetermined rules.Control signal Control signal is the output of the is the output of the

controller that will be used to bring controller that will be used to bring the output of the system as close to the output of the system as close to

the desired value as possible.the desired value as possible.

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy1616

BASIC DEFINITIONSBASIC DEFINITIONS

Control La

w

Control La

w (strategy) (strategy) ::set of set of predetermined rules used (by predetermined rules used (by the controller) to adjust the the controller) to adjust the controlcontrol signalsignalss..

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy1717

BASIC DEFINITIONBASIC DEFINITION

Thus

Thuscontrol control isis the

p rocess ofthe p rocess of :: p p - - adjusting the adjusting the control signalscontrol signalsss uch uch that that s s uch uch that that , , - - regardless regardless of the disturbances of the disturbances,, - - the controlled output of the plant the controlled output of the plant isis forced to behave as close forced to behave as close to to is is forced to behave as close forced to behave as close to to the the desired way as possible.desired way as possible.

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy1818 CLASSIFICATIONCLASSIFICATIONCLASSIFICATIONCLASSIFICATION

Control S

y tems can be classified Control S y tems can be classified y y into two basic types : into two basic types :1) 1) Open loopOpen loop(OL) control (OL) control s y stems , s y stems , y,y, 2 ) 2 ) Closed Loo p

Closed Loo

p ( CL ) or ( CL ) or FeedbackFeedback ) ) p p () () (FB) control systems. (FB) control systems.

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy1919

OPEN LOOP CONTROLOPEN LOOP CONTROL

Control

Control systems in which the systems in which the t t h ff t th t t h ff t th ou t pu t h as no e ff ec t on th e ou t pu t h as no e ff ec t on th e control action are called control action are called OOpenpenLL tl t tl t L L oop oop con t ro l sys t ems.con t ro l sys t ems. I I l l tl t tl t I n an I n an open open l oop l oopcon t ro l sys t em con t ro l sys t em the output is neither measured the output is neither measured f d b k f i ith f d b k f i ith nor f e d b ac k f or compar i son w ith nor f e d b ac k f or compar i son w ith the the reference reference input.input.

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy2020

OPEN LOOP CONTROLOPEN LOOP CONTROLOPEN

LOOP

CONTROLOPEN

LOOP

CONTROL

Disturbance

input

Controlled

output

Reference

(command) input Plant or

Controller

or

Process

Controller

control signal

ME 304 CONTROL SYSTEMSME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy2121

EX EX --11

/ /

Room Temperature Control

Room Temperature Control

Hot water is used to keep a room at a

Hot water is used to keep a room at a specified temperature specified temperature specified temperature

. specified temperature . - - It is circulated through a radiator It is circulated through a radiator and heat flo s into the oom and heat flo s into the oomand heat flo w s into the r oom . and heat flo w s into the r oom . -- Heat will flow out through the walls.Heat will flow out through the walls. - - Room temperature is set by Room temperature is set by adjusting the flow rate of hot water adjusting the flow rate of hot water th o h the di to th o h the di toth r o ug h the ra di a to r. th r o ug h the ra di a to r.

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy2222

Ex Ex --11

/ Room Temperature Control / Room Temperature Control

Outside

q Room

Temperature

T r

Outside TemperatureT

o

Radiator

q i q o r

Can you identify

control system elements ? Valve 22
o C

Hot water

24
o C20 o C

Water

TemperatureT

ME 304 CONTROL SYSTEMSME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy2323

T w

EX EX --11

/ /

Room Temperature Control

Room Temperature Control

In this example, the flow rate of the

In this example, the flow rate of the In this example, the flow rate of the In this example, the flow rate of the hot water is usually calibrated on the hot water is usually calibrated on the

dial of the valve on a t yp ical da y .dial of the valve on a t yp ical da y . yp y yp y

Obviously, on a particularly cold day,

Obviously, on a particularly cold day, th di l tti d th t l th di l tti d th t l th e di a l se tti ng an d th e ac t ua l room th e di a l se tti ng an d th e ac t ua l room temperature will not agree. temperature will not agree.

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy2424

EX EX --22

/ /

Photocopy Machine

Photocopy Machine Drum HeatingDrum Heating

When switched on, a photocopy

When switched on, a photocopy When switched on, a photocopy When switched on, a photocopy machine will not start until the drum machine will not start until the drum

is heated to a p redetermined is heated to a p redetermined p p temperature. temperature.O f hti th d b O f hti th d b O ne way o f h ea ti ng th e d rum may b e O ne way o f h ea ti ng th e d rum may b e passing a current through a coil

passing a current through a coil inside the drum for a fixed period of inside the drum for a fixed period of inside the drum for a fixed period of inside the drum for a fixed period of time, say 2 minutes.time, say 2 minutes.

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy2525

EX EX --22

/ /

Photocopy Machine

Photocopy Machine Drum HeatingDrum Heating

Depending upon

Depending uponDepending uponDepending upon

-

- how long ago it was switched off,how long ago it was switched off,-- environmental temperature, orenvironmental temperature, or

-- the mains voltage the mains voltagethe mains voltagethe mains voltage the drum temperature may have

the drum temperature may have different values after 2 minutes of different values after 2 minutes of different values after 2 minutes of different values after 2 minutes of heating.heating.

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy2626

OPEN LOOP CONTROLOPEN LOOP CONTROL

As a general rule of thumb :

As a general rule of thumb :As a general rule of thumb :As a general rule of thumb :"An y control s y stem workin g on a "An y control s y stem workin g on a yy g yy g time basis is open loop."

time basis is open loop."Consider a simple toaster Is it an Consider a simple toaster Is it an Consider a simple toaster

. Is it an Consider a simple toaster . Is it an open loop system ? open loop system ?

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy2727

CLOSED LOOP CONTROLCLOSED LOOP CONTROL

In a In aClosed LClosed Loopoop or Feedbackor Feedbackcontrol systemcontrol system,,thethecontrolled controlled output

outputis measured and compared is measured and compared with thewith thereference inputreference input.

.

The difference between the two,

The difference between the two,

called called errorerror, is fed into the , is fed into the ll ll hi h d hi h d contro ll ercontro ll erw hi c h pro d uces a w hi c h pro d uces a control signalcontrol signalto reduce this error. to reduce this error.

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy2828

CLOSED LOOP CONTROLCLOSED LOOP CONTROLCLOSED

LOOP

CONTROLCLOSED

LOOP

CONTROL

Thus aThus aclosed lclosed loo

p oo p ( feedback )( feedback ) p p () () control system control system contains additional contains additional elementselements. . - - Sensors or transducers ,

Sensors or transducers

,,, - - Comparator (error detector),Comparator (error detector),--Actuator.Actuator.

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy2929

CLOSED LOOP CONTROLCLOSED LOOP CONTROL

Sensors

SensorsThe controlled output is measured by The controlled output is measured by sensors sensors " " device devicess that measure athat measure a variablevariable and convert it into aand convert it into a signal signal -- ususally electrical ususally electrical - - which which can be can be ususally electrical ususally electrical which which can be can be read by an read by an observer or byobserver or by anan instrumentinstrument " " so that it can be so that it can be fed back and fed back and compared compared with the desired input.with the desired input.

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy3030

CLOSED LOOP CONTROLCLOSED LOOP CONTROL

Comparator (error detector)

Comparator (error detector)The difference between theThe difference between the desired (reference) input and desired (reference) input and - - desired (reference) input , and desired (reference) input , and - - the controlled output the controlled output is is measured by a measured by a comparator comparator ((error error

detector)detector)and and is fed into the controller is fed into the controller which produces a control signal to which produces a control signal to

reduce this error.reduce this error.

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy3131

CLOSED LOOP CONTROLCLOSED LOOP CONTROL

Actuator

ActuatorThe output of the controller is usually The output of the controller is usually am p lified to a sufficientl y hi g h p ower am p lified to a sufficientl y hi g h p ower pygp pygp level to drive an level to drive an actuatoractuator, , which is which is usually ausually a power device such as power device such as lti t hd li t t lti t hd li t t e l ec t r i c mo t or, h y d rau li c mo t or e t c.e l ec t r i c mo t or, h y d rau li c mo t or e t c.,, to change the controlled outputto change the controlled output..

The actuator is usually combined with

The actuator is usually combined with

the plant in block diagrams.the plant in block diagrams.

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy3232

EX EX --33

/ Room Temperature Control / Room Temperature Control

Outside

Temperature

Desired

Room

Temperature

Temperature

Setting Device

Actuating error

Control Signal

Room

Controller

+ -

Valve -Actuator

-

Hot water flow rate

R t t

Actual temperature

Thermistor

R oom t empera t ure

Actual temperature

ME 304 CONTROL SYSTEMSME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy3333

Sensor

COMPARISON OF OL & CL SYSTEMSCOMPARISON OF OL & CL SYSTEMSCOMPARISON OF OL & CL

SYSTEMSCOMPARISON

OF OL & CL

SYSTEMS

Open Loop SystemsOpen Loop Systems--Simple,Simple, L t L t - - L ow cos t , L ow cos t , -- Stability is not a major problem,Stability is not a major problem, - - Cannot function properly in the Cannot function properly in the p resence of disturbances and p resence of disturbances and p pparameter variations.parameter variations.

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy3434 COMPARISON OF OL & CL SYSTEMSCOMPARISON OF OL & CL SYSTEMSCOMPARISON OF OL & CL

SYSTEMSCOMPARISON

OF OL & CL

SYSTEMS

Closed Loop (Feedback) SystemsClosed Loop (Feedback) SystemsClosed Loop (Feedback) SystemsClosed Loop (Feedback) Systems-- More elements,More elements,-- Higher cost,Higher cost,

--

Stability is a major problem,

Stability is a major problem,Stability is a major problem,Stability is a major problem, - - Relatively insensitive to disturbances Relatively insensitive to disturbances and variations of parameter values and variations of parameter valuesand variations of parameter values . and variations of parameter values .

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy3535

OTHER CLASSIFICATIONSOTHER CLASSIFICATIONSOTHER

CLASSIFICATIONSOTHER

CLASSIFICATIONS

hlifii f lhlifii f l Anot h er c l ass ifi cat i on o f contro l Anot h er c l ass ifi cat i on o f contro l

Systems

Systems

- - according to the according to the objective of control objective of controlobjective of controlobjective of control1)1)

Regulator

Regulator

1) 1)

Regulator

Regulator

2)

2)ServomechanismServomechanism

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy3636

OTHER CLASSIFICATIONSOTHER CLASSIFICATIONSOTHER

CLASSIFICATIONSOTHER

CLASSIFICATIONS

Regulator :Regulator :

Objective is to keep the Objective is to keep the

Regulator :Regulator :

Objective is to keep the Objective is to keep the

controlled output at a constant value controlled output at a constant value at all times in the presence of at all times in the presence of at all times in the presence of at all times in the presence of disturbances.disturbances.The command input for a regulator is The command input for a regulator is

either zero or constant.either zero or constant.

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy3737

OTHER CLASSIFICATIONSOTHER CLASSIFICATIONS

Servomechanism :

Servomechanism :

Ob j ective is to Ob j ective is to j j keep the controlled output following keep the controlled output following

a time varying command input.a time varying command input.In its original use, a servomechanism In its original use, a servomechanism is a control system with mechanical is a control system with mechanical is a control system with mechanical is a control system with mechanical position, velocity or acceleration as position, velocity or acceleration as the controlled output.the controlled output.the controlled output.the controlled output.

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy3838

FURTHER CLASSIFICATIONSFURTHER CLASSIFICATIONS

Analog

Analog -- DigitalDigitalManual Manual -- AutomaticAutomaticActive Active -- PassivePassiveCi iCi i ii ii C ont i nuous t i me C ont i nuous t i me --D i screte t i meD i screte t i me

Single input/Single Output (SISO)

Single input/Single Output (SISO)

- -

Single input/Single Output (SISO)

Single input/Single Output (SISO) Multi input/Multi Output (MIMO)Multi input/Multi Output (MIMO)

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy3939

FURTHER CLASSIFICATIONSFURTHER CLASSIFICATIONS

In this course

, the sub j ect is classical In this course , the sub j ect is classical ,j ,j control, which deals with control, which deals with Single Single

Input/Single Output (SISO)Input/Single Output (SISO)systems systems only. only. M lti i t/M lti O t t (MIMO) M lti i t/M lti O t t (MIMO) M

u lti i npu t/M u lti O u t pu t (MIMO) M u lti i npu t/M u lti O u t pu t (MIMO) systems will be the subject of the

systems will be the subject of the graduate course ME 511 Modern graduate course ME 511 Modern graduate course ME 511 Modern graduate course ME 511 Modern Control.Control.

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy4040

EXAMPLEEXAMPLE

--

Water Level ControlWater Level Control

EXAMPLE

EXAMPLE

Water Level

ControlWater

Level

Control

lk Water l ea k age

Adjustable

length for setting the h Buoy

Dischar

g e setting the reference liquid height h r g Flow

ME 304 CONTROL SYSTEMSME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy4141

EXAMPLEEXAMPLE

Driver/Car SystemDriver/Car System

EXAMPLE

EXAMPLE

--

Driver/Car

SystemDriver/Car

System

Heading

Actuator

+

Desired

DirectionHands

Steering Wheel

Position

Eyes and Brain

Speed

Controller

Actuator

Actuator

VEHICLE

- + -

Desired

Speed Feet

Gas (Brake)

Eyes Feet

Gas (Brake)

Pedal Position

Speedometer

Eyes

ME 304 CONTROL SYSTEMSME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy4242

EXAMPLESEXAMPLES

--

Classify !Classify !

EXAMPLES

EXAMPLES

Classify

!Classify ! --

The autopilot system of an aircraft

The autopilot system of an aircraft The autopilot system of an aircraft The autopilot system of an aircraft or ship.or ship.

Gid t f (h t

Gid t f (h t

- - G u id ance sys t em o f a (h ea t G u id ance sys t em o f a (h ea t seeking) missile. seeking) missile. - - Guidance system of a ballistic Guidance system of a ballistic

missile (inertial guidance system).missile (inertial guidance system).-- A driverA driver--car system.car system.

ME 304 CONTROL SYSTEMS

ME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy4343

READINGREADINGREADINGREADING

Ni se, C H-1 se, C (Dorf & Bishop, CH-1)( O g ata , CH-1 ) ( g, )

ME 304 CONTROL SYSTEMSME 304 CONTROL SYSTEMSProf. Dr. Y. Samim ÜnlüsoyProf. Dr. Y. Samim Ünlüsoy4444

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