Modern Control System EKT 308 - UniMAP Portalportal.unimap.edu.my/portal/page/portal30/Lecturer...
Transcript of Modern Control System EKT 308 - UniMAP Portalportal.unimap.edu.my/portal/page/portal30/Lecturer...
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Modern Control SystemEKT 308
• General Introduction• Introduction to Control System• Brief Review
- Differential Equation- Laplace Transform
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Course Assessment
• Lecture 3 hours per week• Lab/Tutorial 2 hours per week
• Final Examination 50 marks• Class Test 1 10 marks• Class Test 2 10 marks• Lab Assessment 15 marks• Lab Test 10 marks• Attendance/Assignments 5 marks
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Course Outcomes
• CO1: The ability to obtain the mathematical model forelectrical and mechanical systems and solve stateequations• CO2: The ability to perform time domain analysis with
response to test inputs and to determine the stabilityof the system.• CO3: The ability to perform frequency domain analysis
of linear system and to evaluate its stability using timeand frequency domain methods.• CO4: Ability to design lag, lead , lead-lag compensators
for linear control systems.
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Tutorials/Lab HoursEvent Week Topic
Tutorial 1 2nd Differential EquationsTutorial 2 3rd Laplace TransformTutorial 3 4th Transfer FunctionsLab 1 5th Computational Approach for Modern
Control SystemsTutorial 4 6th Open-loop and Close-loop SystemsLab 2 7th Time-domain ResponseTutorial for Test 1 8th
Lab 3 9th Root LocusLab 4 11th Frequency Domain ResponseTutorial for Test 2 12th
Lab 5 13th Controller DesignLab Test 14th
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Lecturers and PLV
• Lecturers1. Dr. Md. Mijanur Rahman2. En. Zahari Awang Ahmad
• PLV1. En. Mohammad Nazri Md. Noor
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Text Book References
• Richard C. Dorf & Robert H. Bishop, “ModernControl Systems”, Twelfth Edition, PearsonEducation, Inc.• Katsuhiko Ogata, “Modern Control
Engineering”, Fifth Edition, Pearson Education,Inc.
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What is a Control System ?
• A device or a set of devices• Manages, commands, directs or
regulates the behavior of otherdevices or systems.
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What is a Control System ? (contd….)
Process (Plant) to be controlled
Process with a controller
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Examples
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Examples (contd…)
HumanControl
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System Control
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Classification of Control Systems
Control systems are often classified as• Open-loop Control System
• Closed-Loop Control SystemsAlso called Feedback orAutomatic Control System
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Open-Loop Control System
Day-to-day Examples• Microwave oven set to operate for fixed time• Washing machine set to operate on fixed
timed sequence.
No Feedback
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Open-Loop Speed Control of Rotating Disk
For example, ceiling or table fan control
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What is Feedback?Feedback is a process whereby someproportion of the output signal of asystem is passed (fed back) to the input.This is often used to control the dynamicbehavior of the System
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Closed-Loop Control System
• Utilizes feedback signal (measure of theoutput)• Forms closed loop
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Example of Closed-Loop ControlSystem
Controller:Driver
Actuator:SteeringMechanism
The driver uses the differencebetween the actual and the desireddirection to generate a controlledadjustment of the steering wheel
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Closed-Loop Speed Control of Rotating Disk
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GPS Control
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Satellite Control
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Satellite Control (Contd…)
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Servo Control
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Disk Drive Control
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Closed-Loop Control of Disk Drive
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Differential Equation
0..... 011
1
1
adxdya
dxyda
dxyda n
n
nn
n
n
N-th order ordinary differential equation
Often required to describe physical system Higher order equations are difficult tosolve directly. However, quite easy to solve throughLaplace transform.
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Example of Diff. Equation
o
i
edtiC
edtiC
RidtdiL
1
1
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Example of Diff. Equation (Contd…)
Newton’s second law:
2
2
dtsdm
dtds
dtdmF
dtdvmF
maF
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Table 2.2 (continued) Summary of Governing Differential Equations for Ideal Elements