Olabisi Onabanjo University, Ibogun Campus
Department of Mechanical Engineering
MEG 413:
Automatic Control Systems
Department of Mechanical Engineering - OOU
1 © Aasa SA
Prescribed text :Norman [Link], Control Systems
Engineering: Fifth Edition, John Wiley & Sons, 2007
Recommended reading :
⚫ Richard C. DORF and Robert H. BISHOP, Modern Control Systems,
Ninth Edition, Prentice Hall,2001
⚫ [Link], Control Engineering: Longman, 1998
⚫ Katsushiko OCATA, Modern Control Engineering, Fifth Edition,
Pearson, 2010
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Control System Designs
⚫ Basic /introduction of Control System
Concepts
⚫ Transfer Functions of Physical Systems
⚫ State Equations for Physical Systems
⚫ Transient Response, Stability
⚫ Forced Response Errors
⚫ Design Using Sinusoidal Tools
⚫ Design Using State Equations
3 Activities – PYTHON, R…
Basic Control System Concepts
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History of Control System
⚫ 1728 – Jame Watt
Flyball governor
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History of Control System
⚫ 1769 – Jame Watt
⚫ 1868 – James Clark Mexwell
⚫ 1877 – Routh’s Stability Criterion
⚫ 1890 - Liapunov M.A.
⚫ 1932 – [Link]
⚫ 1934 – [Link]
⚫ 1947 – Nichols chart
⚫ 1948 – [Link]
⚫ 1954 – George Devol
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History of Control System
⚫ 1956 – 1969 Optimal control, Dynamic
program, Optimization system, Fuzzy logic
⚫ 1970 – 1979 State space model, Adaptive
control
⚫ 1980 – 1989 Robustness control, AI
⚫ 1990 – 1999 Robot development and
application
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Introduction to Control System Design
Control system consists of a number of components
connected together to perform a specific function in
the output is controlled by the input
Control system is classified into:
1. Open
2. close loop system (feedback)
Process to be controlled
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Introduction to Control System Design
⚫ Mathematical Model of Systems – Python
⚫ Relationship between input and output
⚫ Test inputs
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Control System Designs
⚫ Open-loop Control
Advantage : 1. Simple and economical, 2. Easier to control 3. Stable
Disadvantage: 1. Inaccurate, 2. Changes in the output are not corrected automatically
Actuating device / actuator
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Control System
⚫ Open-loop Control
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Control System
⚫Closed-loop Control or Feedback Control
Advantage: 1. Accurate, 2. Less affected by noise
Disadvantage; 1. complex to construct, 2. Feedback reduces the overall gain of the system,
3. Stability is its main problem.
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Control System
Closed-loop Control (Feedback Control)
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Closed-loop Control
⚫ Comparison Element
⚫ Control Element
⚫ Correction Element
⚫ Process Element
⚫ Measure Element
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Control System
⚫ SISO (Single Input Single Output)
⚫ Multivariable Control System
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Multivariable Control System
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Control Engineering
⚫ Analysis
o Stability
o Dynamic Response and Performance
Indices
Speed Accuracy Tolerance
⚫ Design
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Engineering Design
⚫ Specification
⚫ Complexity of Design
⚫ Trade-Off
⚫ Design Gabs
⚫ Risk
⚫ Optimize the parameters
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Examples of control systems
Turntable speed control (Open-loop control)
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Examples of control systems
Turntable speed control (Closed-loop control)
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Examples of control systems
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Examples of control systems
Speed Control System
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Examples of control systems
Temperature control system
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Examples of control systems
A three-axis control system
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Examples of control systems
Water-level float regulator
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Examples of control systems
Hydraulic actuator with valve
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HDD
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Examples of control systems
Coordinated control system for a boiler-generator
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ADVANTAGES OF CONTROL SYSTEMS
⚫ Power amplification
⚫ Remote control
⚫ Convenience of input form
⚫ Compensation for disturbances
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ADVANTAGES OF CONTROL SYSTEMS
⚫ For example, a radar antenna, positioned by the low-power rotation of
a knob at the input, requires a large amount of power for its output
rotation. A control system can produce the needed power amplification,
or power gain.
⚫ Robots designed by control system principles can compensate
for human disabilities. Control systems are also useful in remote or
dangerous locations. A robot arm designed to work in contaminated
environments.
⚫ Control systems can also be used to provide convenience by
changing the form of the input. For example, in a temperature control
system the input is a position on a thermostat. The output is heat. Thus, a
convenient position input yields a desired thermal output.
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ADVANTAGES OF CONTROL SYSTEMS
⚫ The system must be able to yield the correct
output even with a disturbance. For example,
consider an antenna system that points in a
commanded direction. If wind forces the antenna
from its commanded position, or if noise enters
internally, the system must be able to detect the
disturbance and correct the antenna’s position.
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Antenna Azimuth: An Introduction to
Position Control Systems
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THE DESIGN PROCESS
STEP 1: TRANSFORM REQUIREMENTS INTO A PHYSICAL
SYSTEM
STEP 2: DRAW A FUNCTIONAL BLOCK DIAGRAM
STEP 3: CREATE A SCHEMATIC
STEP 4: DEVELOP A MATHEMATICAL MODEL (BLOCK
DIAGRAM)
STEP 5: REDUCE THE BLOCK DIAGRAM
STEP 6: ANALYZE AND DESIGN
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THE DESIGN PROCESS
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Examples…
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Block Diagram:
breakdown and analysis
This is physical representation of how a system
function in a control system.
Block diagram can be in
1. Series or Cascade form
2. Parallel form
Main pick off point of a block diagram
1. R(s), 2. E(s), 3. G(s), 4. H(s)
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Assignment
[Link] is a Signal flow graph
b. list and describe 10 terms used for
a signal flow graph
2. Describe steps for solving signal
flow graph of a control system
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Laplace Transform and Transfer
Function
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Mathematical Modelling
Translational Mechanical System
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Rotational Mechanical System
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THE CONTROL SYSTEMS ENGINEER
Control systems engineering is an exciting field in which to apply your
engineering talents, because it cuts across numerous disciplines and numerous
functions within those disciplines. The control engineer can be found at the top
level of large projects, engaged at the conceptual phase in determining or
implementing overall system requirements. These requirements include total
system performance specifications, subsystem functions, and the interconnection
of these functions, including interface requirements, hardware and software
design, and test plans and procedures.
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Transfer Functions of Physical
Systems
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Process Control Loop
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