sensor
controlled variable
variable controlada
the measure of the
temperature is the
controlled variable
plant
planta for this case the
manipulated variable is the
manipulated variable current that flow thruogh
the heating element in this
oven case the resistor
horno
resistencia
electrical current
corriente electrica
computer
heating element computadora
elemento calefactor
disturbance
perturbaciones
enviroment media
the exchange of heat
medio ambiente
between the oven and the
exchange of heat enviroment is considered
intercambio de calor an external disturbance
perturbacion
an internal disturbance can be
considered as the element that avoid
the transmittion of heat between the
walls of the oven and the heat generate
by the heating element.
feedback control
control retroalimentado this system can be considered a
feedback control because the
tempeture inside the oven is
measured an this parameter is
send to the computer where is
compared with a value given by
the user. if the error between the
temperature measured and the
desired value is big then the
computer send a signal to heater
element to change the temperature
inside the oven
responce of system stable and unstable
respuesta de un sistema estable e inestable
unstable
stable
amplitud the response of the system
amplitud the response of the system doesnt reach certian limit and
reaches certian limit and always is changed
keeps constant
time
time output signal
input signal
input signal output signal
closed loop system
sistema de lazo abierto
open loop system
sistema de lazo abierto
output
input
plant
input output
plant
user
usuario
the user seen the temperature in the ouptup and he in this case the user is replaced by the
needs to change or vary the tempeture change the computer and this device make the process to
value of the variable power supply to increase or control the temperature of the oven increase or
decrease the temperature of the oven. decrease the current that flow through the
heating element(resistor)
open loop system closed loop system
sistema de lazo abierto sistema de lazo abierto
output
input
plant
plant
input output
fan air conditioner
ventilador aire acondicionado
diagram open loop control
diagrama de control de lazo abierto
output
plant
firts disturbance
input controller point
input sum
transductor
transductor
de entrada
second
disturbance
this is the most simple form to represent the open loop system
input
output
plant
scheme or diagram of closed loop system
error signal
input signal - output signal
feedback
retroalimentacion
this is the most simple form to represent the closed loop
system
closed loop system
input or output
plant
reference
signal
feedback
linear system
sistema lineal
principio de
superposicion
if we apply the superposition principal, we have
if this expression
is true. then the
system is linear then when the addition of the particular output for
each particular input is equal to the output signal
resulting of assess of the input signal in the same
time. then the system is a linear system
example
input output
linear invariant with the time system and
linear variant with the time system
differential
equation
coeficientes
coefficients
are constans
transfer function
laplace transform of the output
laplace transform of the input
this function is in time domain
dominio del tiempo
this function is in domain of the
variable "s"
the transfer function is defined in the domain of the
variable s
this symbol represent the
operation called laplace
transform
transfer function
output
input
this differential equation represent the system.
this is a general representation
output
input
we apply the laplace transform to the anterior equation. we obtein the
mathematical expression to get the transfer function
we arrange the anterior expression and get the transfer function
to define the characteristic equation is
neccesary to have the transfer function.
to find this equation is neccesary to
define the dominator equal to zero.
numerator
numerador
denominator
denominador
this expression is represented
using a polynomial
put to zero the polynomial that represents the
denominator we obtein the characteristic equation.
hallar la ecuacion caracteristica de la siguiente funcion de transferencia
la ecuacion caracteristica se obtiene cuando igualamos a cero el
denominador de la funcion de transferencia
ecuacion
caracteristica
polos
ceros los polod se obtienen a partir de las raices
los ceros se obtienen a partir de las del polinomio del denominador
raices del polinomio del numerador
polinomio del
polinomio del numerador se
numerador se iguala con cero
iguala con cero
polos
ceros
ceros
to define the characteristic equation is
neccesary to have the transfer function.
to find this equation is neccesary to
define the dominator equal to zero.
numerator
numerador
denominator
this expression is denominador
represented using a
polynomial
put to zero the polynomial that represents the
denominator we obtein the characteristic equation.
example
characteristic equation is
impulse response
output
input
we can get the output function using the
transfer function. in this case is neccesary to impulse signal
leave the output define by the input and the señal impulso
transfer function
impulse function is the input
the laplace transform of impulse funtion is
we replace the value of the functin in the domain of
the s. then we have
example 1
we need to find the laplace transform of that
expression. then we need the transform to this
operator
the laplace transfor is the following
initial condition
factor common
factor common
transfer
function
solution
the anterior expression are replaced in the differential equiation
and we obtain this
we replace all the variables s by this mathematical
expression
impulse
signal
this differential equation represent the behavior of the system
SYSTEM
transfer
function
we need to find the responce
when the input is a impulse
signal
output
input TRANSFER
FUNCTION
impulse function
laplace transform
of impulse function INPUT
signal
input
OUTPUT
using this expression we
can find any responce
for any input function
this function represent the responce
output to the impulse function. this
function is in the s domain and we
need this function in time domein.
the output function
reverse of system in the
laplace time domain
transform
this is the
responce of the
impulse. in this
case.
impulse
signal
the output function
reverse of system in the
laplace time domain
transform
this is the
responce of the
impulse. in this
case.
impulse
signal
block diagram of closed loop system
representation of block diagram of a
differential equation
using this expresion we can built the block diagram
input 1
resulting output
input 2
salida resultante
input 3
gain ganancia
gain
operation in operation in
time domain domain of variable S