Automatic control

grade makeup Assignments 10

Tutorials 10
Labs 18
Midterm 1 10
Midterm 2 10010
Exam 45

Model of dynamic systems

1 systems and control systems

def A system is a collection ofinterconnectedparts that
forms a unified complex whole

input system output

control system a mechanism that alters the behavior of a
system
Controller
actuator plant output
n
a sensor
c
closed loop system feedbackcontrolsystem

2 model of dynamic systems

each block model
overal system overall model
2 I a set of differential to describesystem
equs
physics laws
Mechanical systems Uses newton's laws

electrical systems uses Kirchhoff's Lows etc

 2.2 general form of dynamic systemmodel CODE
typical ODE Time domain

X Ct input
system
x yet y
Ct output

ODE cata ice t

tango
ayy n
y
box t tb xu cat

yrce nth order den otive of yet

Ro a an
const min
boob bm

Problems word to relate Ct to input act

y
difficult to understand how goodchanges
war t changes of Xlt
control
3 Intro to Laplace transform L T

ODE Algebra
For a
given time func FCA Fct o t 10

Fcs L fca JYéstfcadt

s otjw

Ingrate 0

921 ODE algebriac g plane

fact 4 Facss Ect Fcs

F Ct F s
18cg
Fios
L files f III e side
 Integration by port e

Vas Vas two variables

Dx Ua VCx a III t u ex
IF
V W DxCU V U V

f v u du u v far do
st
F css 88Ez e side U e
a W s est

st V FCS
Fcs v.v f f Ct f se at
us age
st
e fees ft SJ fats e stat
i t
FY
Fist f co t S FCS
F s S F CS

FLE IT S Fcs

L g as 5 Fess

2 8 cos S Fess
 Example first order

If ay co fed yoooo
L T S YES a Yes FCS
3 2 integration theorem
fees LI FCS
F Cs
ft Ectde

Fios s FCS
4 transfer fond of dynamic systems
x cts Sys Yet
Assume Zero initial conditions
x co x'co I 0
co cos 0
g y
transfer function defined as the ratio of the Laplace
transform of the output and L T of the input

3 Gcs Iss
Tif Gcs
Y 2
5 derive 4 F from ODE

m I j
boxcmqygtbmxc.es
Step 2 perform L T Of ez on both sides
a gycord calf a s Yes bosh xest tbmxes

Laos a s t tan Yes bosmt tbixes

steps ratio

4 35s.tt I5
t
T.PE of an nth order system
Yes
Es
II
Friday week 1

Types of systems
Linear system
non linear control sys
time invariant sys
time variant
Linear time
Sys
invariant sys
Linear obeys rules of superposition

X CES
ODE Ict
Xlt x cts trace

Is one face Je 5
Y CES y Ct
yet
 time in warrant

Is ope
Y Ct
Ets
ypg
Transferfuncritisystenskyp
If 8 3 II main
time
x 5 x'cos
Xo
Tf Gcs Yg yCoby
co

yet Ej yes

control systems with multiple components

tItÉ
plant
motor
Uct

Elect motor model

V Elea 749Wh
CE ight v
TF of each component
plant ocy1fco_pcopiose
C0J
dffftdgytgpcy
T of 4
52
5
5 4
PCS

PCS
2 S PLS
ECS
4 PCS OLD

1
sty Is
III
motor oat V05
doff
L T Of C2 S Jass o 4 Vcs

T F
85 us 9
0,1
AMP vets O Vit
L T Voss V Cs
Vig as
overall T F of system v csi 7 Pcs

Es IA
pas

Wcs pls
 Tf
Ffs
3 Mech system component
Tf
spiiijtgmy.tt Foes FAS KXCES

Acts Kesefy
damper 54 fctg b.IE
44
L.T
a
Ff
ftp.t Yput
saxes
fog
Is I f T.fi
mass fees mdÉ
Y Im
É fees
t.IE fIL.T
4 model of mechanical
system
sixes If

ITIAFces mass damper system

spring
FB D Woes Efim III
ID pea
bxct fctj kxces bxca m.IE EON
Q Flo
If É
as
T F F Cs Xcs I
step 2 re arrange EDM S t all output variables
to the left hand side and input to right hand
side

Xcel ice Ice output fees input

d
m
diff b
tkxcestfg CE.am
steps I of E o M

m saxes b S X S kxexy FCS D

Ms Sst K Years FCS

step TF as a ratio between us and Fcs

1,7 mist
KITAMI FI 5
my
T
perform analysis
 Week 2

modeling components IBD EOM CODE Effin

mass springdamper

Rotational system motion control

x ei i
trave 3 angularation
components Torsion spring 4 yÉÉCt Cf Ed
É
b T
amor y D
I Acs

a
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dÉ IE s

the guy
inertia foocts Ect
pe
5 Gess Tr
Eg Ist
2 Electrical system
2 1 laws chinchinoff'S Laws

KCL IE iii ti ti
 KUL

TTjv
0
Y Vitra 63

2.2 components
tri
resistors
5 ftp.t Ies
Ys
capacitor
mite Vatfice de
file de CV

IIesseives It Ig
c s

inductor
my Vee LII dÉ y
Ej s Ies a
Tf
Ingest
voltage source
Usa UCE Vestiges
Vayu CD
If
18 1

Current source ice ice ice cold

L T I 45 I ECS

T.FI g 1
2.3 example Re circuit

FI
Vic'd input
Volt Volts output
R resist or
C capacitor
fixedconsts
Q T.I
Yg
KUL
Modeling based Lag

Vitt VRCES VELA VOCEVICES

r 2ctstIficeideG ESIictidT

2OL.T Vies R Ics t t ts Ics

Vocs I J ICS

find It K
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as 40130

II
Vocs
Rest
RC circuit
mechanical system
3 motor model electro
electroenergy to mech
 g

generatormech elec

V É De mots Ii
V
Tri
Pe v i pm p
R resistance
R
mhm L inductance

I n
fJ
emstke É ke Backent
I y.gg

R
reeg UrltstUeLtst
mflt IRoicestL.dEItKe.IC

L.T
Ves RICS th S ICS Re S OLD

TASIK ILA
IIF
LI TCS K
Ies
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vest
RIItlsqqntkesac. u
elec
 Uct constant
to
how tourque relates speed

1 0 small inductance

VCs
RIE to t Ske FCS ID
Inverse L T of
Re Ects
CES
REI
VCI FM T CES variables
4 Ice
fixed Ica v ca const

soca
Acts
TLE RS VCD KIF
u
T TI slope
8,552
 weeks 2 thursday Blockdiagram
Topics motormodes
simplification

Motor model
tf R resistance
L inductance
gaming 1 V suppliedvoltage

I If e back emf
2 current
3 inertia
it elec analysis o angle
output i b damping
inputcus
T tourque
RV L
VCT ULLA Ve It ke back emf const
VRA
I R jct L
di the g
ters
1 2 conversion PezV 2 Pm T
he
Tct Rt Ict Re torque constant

1 3 mech
angle of angular veto
torque input
dampingfriction
Tales b Oct
I
ft b

T J Ct
T Lt
Tct J LET LEON

I
 1 4 overall model

Erec covers I Mean 9

Q what is the overall transfer function
from V 20
consider L T to get each sub system into s domain

Elea pct Rice LEE the Ict

RICE LEE VCD REICH
LT RICS t SL ICS VCS Res ICS
R SL ICS VIS ke sacs
Ics
pg Ves ke so Cs

V
n't 7
Eo
conversion
yay Ky 2 t

TCS Ke I s

IF
IF I Kt

mean
Eggers
J s ILS LS S TCS
 55 85 GCS TCS

H
Eta
Block digram of motor
system
In
If
Kt sets
Iq HE sue 91
Treed Back
Oz what is overall IF

Gcs E
2 Block diagram simplification
algebraic process
Ruels
I Summing Junction
2s
Rip 20
pics input
Rat Argos cess output

CS R CS RzCS Rz S
R s RzCs Rz CS
RCS RzCS
Riforestals
RIess T
Rico
 2 pick of point

Toesmeasurement
Caf
3 block in series

4
Xis G CS RCS
GCS X CS
Xz s

CCS 631ST X2 Cs

45 1 Rest
4 Blocks in parlel
5
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