ME-301
CONTROL ENGINEERING
LECTURE 02
INTRODUCTION
Dr. Shahbaz Mahmood Khan
Assistant Professor, Department of Mechanical Engineering,
School of Mechanical and Manufacturing Engineering
National University of Sciences and Technology, Islamabad
[Link]@[Link]
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STABILITY
Natural Response:
o “Natural response is the system's response to initial
conditions with all external forces set to zero.
o How the system responds to disturbance.
o Examples?”
Forced Response:
o “Is the system's response to an external stimulus.
Examples?”
Total Response = Natural Response + Forced Response
Stability:
o “The tendency of the system’s response to return to zero (or
steady-state) after being disturbed”
o For system to be stable: the natural response must
go to zero or oscillate leaving only the forced
response.
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CASE STUDY
Position control system:
o Converts position input command to a position output
response.
o Examples: antennas, robot arms, and computer disk drives,
CNC machines, 3D printers etc.
Radio Telescope Antenna:
o “The goal is to use a low energy operator input to move the
huge radio telescope antenna”
o Azimuth angle output of the antenna, θo follow the input angle
of the potentiometer, θi.
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CASE STUDY
Radio Telescope Antenna –
System concept 4
CASE STUDY
Radio Telescope Antenna -
Detailed Layout 5
CASE STUDY
Radio Telescope Antenna -
Schematics 6
CASE STUDY
Radio Telescope Antenna –
Functional block diagram 7
CASE STUDY
Radio Telescope Antenna –
Response of a position control system 8
CONTROLS SYSTEMS DESIGN PROCESS
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CONTROLS SYSTEMS DESIGN PROCESS
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CONTROLS SYSTEMS DESIGN PROCESS
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CONTROLS SYSTEMS DESIGN PROCESS
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CONTROLS SYSTEMS DESIGN PROCESS
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CONTROLS SYSTEMS DESIGN PROCESS
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CONTROLS SYSTEMS DESIGN PROCESS
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CONTROLS SYSTEMS DESIGN PROCESS
Example: Antenna Azimuth Position Control System
Requirement: Position Control from remote location
Features: Weight, Dimensions
Design Specification 1: Desired Transient Response
Design Specification 2: Desired Steady-State Accuracy
Design Specification 3: Desired Stability
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CONTROLS SYSTEMS DESIGN PROCESS
STEP 1 –
Requirement to physical system 17
CONTROLS SYSTEMS DESIGN PROCESS
STEP 2 –
Develop a functional block diagram 18
CONTROLS SYSTEMS DESIGN PROCESS
STEP 2 –
Develop a functional block diagram 19
CONTROLS SYSTEMS DESIGN PROCESS
STEP 2 –
Develop a functional block diagram 20
CONTROLS SYSTEMS DESIGN PROCESS
STEP 4 –
Develop a mathematical model 21
CONTROLS SYSTEMS DESIGN PROCESS
Simplifying assumptions made in the process of obtaining a mathematical model usually
leads to a low-order system
ASSUMPTION 1: Physical quantity is changing by STEP FUNCTION
STEP 4 –
Develop a mathematical model 22
CONTROLS SYSTEMS DESIGN PROCESS
Simplifying assumptions made in the process of obtaining a mathematical model usually
leads to a low-order system
ASSUMPTION 2:
ASSUMPTION 3:
STEP 4 –
Develop a mathematical model 23
CONTROLS SYSTEMS DESIGN PROCESS
STEP 5 –
Reduce the block diagram 24
CONTROLS SYSTEMS DESIGN PROCESS
STEP 5 –
Reduce the block diagram 25
MODELING IN FREQUENCY DOMAIN
Differential Equation
(Relation between Separable Time-Invariant
Input and Output)
Laplace Transform
Input, Output and
converts Differential
System Distinct and
Equation into
Separable
Algebraic Equation
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MODELING IN FREQUENCY DOMAIN
Time-Invariant System:
Given a system with a time-dependent
output function y(t) and a time-dependent
input function x(t) the system will be
considered time-invariant if a time-delay on
the input x(t+δ) directly equates to a time-
delay of the output y(t+δ) function.
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TIME DOMAIN VS. FREQ. DOMAIN
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LAPLACE TRANSFORM
Laplace Transform
Inverse Laplace Transform
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LAPLACE TRANSFORM
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LAPLACE TRANSFORM EXAMPLE
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LAPLACE TRANSFORM EXAMPLE
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LAPLACE TRANSFORM EXAMPLE
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LAPLACE TRANSFORM EXAMPLE
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