ME 304

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

dc amplifier Control Prof.. Dr.

Prof Dr YY. Samim Ünlüsoy
Transformer
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 1
 CH I
COURSE OUTLINE
I. INTRODUCTION & BASIC CONCEPTS
II. MODELING DYNAMIC SYSTEMS
III. CONTROL SYSTEM COMPONENTS
IV.
IV STABILITY
V. TRANSIENT RESPONSE
VI. STEADY STATE RESPONSE
VII. DISTURBANCE REJECTION
VIII. BASIC CONTROL ACTIONS & CONTROLLERS
IX. FREQUENCY RESPONSE ANALYSIS
X. SENSITIVITY ANALYSIS
XI. ROOT LOCUS ANALYSIS

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 2

 CONTROL SYSTEMS
OBJECTIVES

To get familiar with

„ various control systems and
to introduce
„ fundamental concepts and
terminology of Control Systems,
Systems
„ classification of Control Systems.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 3

 WHAT IS A CONTROL SYSTEM ?

A control system is a collection

of components assembled to
produce a desired response for a
given input.

Input
p Response
Control
C t l
System

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 4

 EXAMPLES of CONTROL SYSTEMS

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.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 6

 EXAMPLES of CONTROL SYSTEMS

Aviation / Aerospace :
- Autopilot
p Applications,
pp ,
- Space Vehicles,
- Missile Guidance Systems,
Systems
- Target Tracking (radar),
- etc.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 7

 EXAMPLES of CONTROL SYSTEMS

Manufacturing Industry :
- Automation,,
- Robotics,
- CNC Machining Centers,
Centers
- etc.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 8

 BASIC DEFINITIONS

Plant : a physical object, system or

process that is to be controlled.

Steering Direction
wheel Automobile
of travel
rotation

PLANT

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 9

 BASIC DEFINITIONS

Process
rocess:: is an operation to be
controlled.

Examples:
- chemical process,
process
- economic process,
- biological process.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 10

 BASIC DEFINITIONS

Input : an effect (generated outside

the plant) that causes the plant to
behave in a certain way.

Steering Direction
Di i
wheel Automobile
of travel
rotation

INPUT

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 11

 BASIC DEFINITIONS

Output (controlled variable) : the

Output
quantity or condition that is of
interest and thus is controlled.
controlled.

Steering Direction
wheel Automobile
of travel
rotation

OUTPUT
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 12
 BASIC DEFINITIONS

Reference (command) input :

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

Steering
g Direction
wheel Automobile
of travel
rotation

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 13

 BASIC DEFINITIONS

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

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 14

 BASIC DEFINITIONS

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

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 15

 BASIC DEFINITIONS

Controller : a device (or human

being)
being ) which adjusts the control
signals according to a set of
predetermined rules.

Control signal is the output of the

controller that will be used to bring
the output of the system as close to
the desired value as possible.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 16

 BASIC DEFINITIONS

Control Law (strategy) : set of

predetermined rules used (by
the controller) to adjust the
control signals
signals.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 17

 BASIC DEFINITION
Thus control is the p
process of :
- adjusting the control signals
such that
that,,
- regardless of the disturbances,
disturbances,
- the controlled output of the plant
is forced to behave as close to
the desired way as possible.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 18

 CLASSIFICATION
Control Sytems
y can be classified
into two basic types :

1) Open loop (OL) control

y
systems,,

2)
) Closed Loopp((CL)
) or Feedback
(FB) control systems.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 19

 OPEN LOOP CONTROL
Control systems in which the
output
t t has
h no effect
ff t on the
th
control action are called Open
Loop control
t l systems.
t

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

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 21

 EX – 1 / Room Temperature Control

Hot water is used to keep a room at a

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

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 22

 Ex -1 / Room Temperature Control

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

In this example, the flow rate of the

hot water is usually calibrated on the
dial of the valve on a typical
yp day.
y

Obviously, on a particularly cold day,

the
th dial
di l setting
tti and
d the
th actual
t l room
temperature will not agree.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 24

EX – 2 / Photocopy Machine Drum Heating

When switched on, a photocopy

machine will not start until the drum
is heated to a predetermined
p
temperature.

One way off h

O heating
ti th
the drum
d may be
b
passing a current through a coil
inside the drum for a fixed period of
time, say 2 minutes.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 25

EX – 2 / Photocopy Machine Drum Heating

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.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 26

 OPEN LOOP CONTROL

As a general rule of thumb :

“Any
y control system
y working
g on a
time basis is open loop.”

Consider a simple toaster.

toaster Is it an
open loop system ?

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 27

 CLOSED LOOP CONTROL
In a Closed Loop
Loop or Feedback
control system
system,, the controlled
output is measured and compared
with the reference input.
input.

The difference between the two,

called error
error,, is fed into the
controller
ll which
hi h produces
d a
control signal to reduce this error.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 28
 CLOSED LOOP CONTROL
Thus a closed loop
loop
p (feedback)
( )
control system contains additional
elements..
elements

- Sensors or transducers,,
- Comparator (error detector),
- Actuator.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 29

 CLOSED LOOP CONTROL
Sensors
The controlled output is measured by
sensors
“device
devicess that measure a variable
and convert it into a signal –
ususally electrical – which can be
read by an observer or by an
instrument ”
so that it can be fed back and compared
with the desired input.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 30
 CLOSED LOOP CONTROL
Comparator (error detector)
The difference between the
- desired (reference) input,
input and
- the controlled output
is measured by a comparator (error
detector) and is fed into the controller
which produces a control signal to
reduce this error.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 31

 CLOSED LOOP CONTROL
Actuator
The output of the controller is usually
amplified
p to a sufficiently
y high
g ppower
level to drive an actuator
actuator,, which is
usually a power device such as
electric
l t i motor,
t hydraulic
h d li motor
t etc.
etc.,
t ,
to change the controlled output.
output.
The actuator is usually combined with
the plant in block diagrams.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 32

 EX – 3 / Room Temperature Control
Outside
Temperature
Desired
Temperature Actuating Control
Setting Device error Signal Room
Temperature

+ 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

Open Loop Systems

- Simple,
- Low
L cost,
t
- Stability is not a major problem,
- Cannot function properly in the
presence of disturbances and
p
parameter variations.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 34

 COMPARISON OF OL & CL SYSTEMS

Closed Loop (Feedback) Systems

- More elements,
- Higher cost,
- Stability is a major problem,
- Relatively insensitive to disturbances
and variations of parameter values.
values

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 35

 OTHER CLASSIFICATIONS

Another
h classification
l ifi i off controll
Systems - according to the
objective of control

1) Regulator

2) Servomechanism

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 36

 OTHER CLASSIFICATIONS

Regulator : Objective is to keep the

controlled output at a constant value
at all times in the presence of
disturbances.

The command input for a regulator is

either zero or constant.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 37

 OTHER CLASSIFICATIONS
Servomechanism : Objective
j is to
keep the controlled output following
a time varying command input.

In its original use, a servomechanism

is a control system with mechanical
position, velocity or acceleration as
the controlled output.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 38

 FURTHER CLASSIFICATIONS

Analog – Digital

Manual – Automatic

Active - Passive

C
Continuous
i time
i – Discrete
i time
i

Single input/Single Output (SISO) –

Multi input/Multi Output (MIMO)

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 39

 FURTHER CLASSIFICATIONS

In this course,, the subject

j is classical
control, which deals with Single
Input/Single Output (SISO) systems
only.

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.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 40

 EXAMPLE – Water Level Control

l k
leakage Water

Adjustable
length for
setting the
Buoy h reference liquid
height hr
Discharge
g

Flow

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 41

 EXAMPLE – Driver/Car System

Eyes and Brain Steering Wheel

Position
Desired Hands
Direction
+ Heading
Actuator
Desired+ - Controller VEHICLE Speed
Speed
Actuator
- Feet Gas (Brake)
Pedal Position
Eyes

Eyes Speedometer

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 42

 EXAMPLES – Classify !

- The autopilot system of an aircraft

or ship.
-G
Guidance
id system
t off a (heat
(h t
seeking) missile.
- Guidance system of a ballistic
missile (inertial guidance system).
- A driver-
driver-car system.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 43

 READING

Nise,
se, C
CH-1

(Dorf & Bishop, CH-1)

((Ogata,
g , CH-1))

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 44