‫السالم عليكم ورحمة هللا وبركاته‬

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 Automatic control

Lecture note

Dr. Eng. Mohamed Hanafy Aly Dr. Eng. Osama Ismael Mahmoud
Faculty of engineering-Mattaria Faculty of engineering-Mattaria
Mechanical Power Engineering Department Mechanical Power Engineering Department

2
Course contents
• Introduction to control engineering
• Control system fundamentals
• Open loop systems
• Closed loop systems
• System modeling
• Mathematical models
• Mathematical model of mechanical system
• Mathematical model of electric system
• Mathematical model of thermal system
• Mathematical model of fluid system
• Time domain analysis
• Laplace transform
• Transfer function
• Common time domain input function
• Time domain response of first order systems
• Time domain response of second order systems
• Step response analysis and performance specification
• Closed loop control system
• Closed loop transfer function
• Block diagram reduction
• System with multiple input
• Transfer functions for system elements
• DC servo motor
• Controller for closed loop systems
• P (proportional)
• PI (proportional plus integral)
• PID (proportional plus integral plus derivative)
• PID tuning
• Classical design in s-plane
• Stability of dynamic systems
• Stability and roots of the characteristic equation
• The routh- hurwitz stability criterion
• Root-locus analysis
Introduction to Control
 Historical review

Steam Engine

A problem that faced engineers at the time was how to control the speed of
rotation of the engine without human intervention. Of the various methods
attempted, the most successful was the use of a conical pendulum, whose
angle of inclination was a function (but not a linear function) of the angular
velocity of the shaft. This principle was employed by James Watt in 1769 in
his design of a flyball, or centrifugal speed governor.
Control System – An interconnection of components forming a system
configuration that will provide a desired response.
Watt’s Flyball Governor
Watt was a practical engineer

• under certain conditions the engine appeared to hunt, where the speed output
oscillated about its desired value.
• The elimination of hunting, or as it is more commonly known, instability, is an
important feature in the design of all control systems.

• Maxwell (1868) developed the differential equations for a governor, linearized

about an equilibrium point, and demonstrated that stability of the system
depended upon the roots of a characteristic equation having negative real parts.
The problem of identifying stability criteria for linear systems was studied by
Hurwitz (1875) and Routh (1905). This was extended to consider the stability of
nonlinear systems by a Russian mathematician Lyapunov (1893). The essential
mathematical framework for theoretical analysis was developed by Laplace
(1749-1827) and Fourier (1758-1830).
 Control System fundamental
System – defined as a collection of mater, parts, component or procedure which are include
within some specified boundary and may have any number of inputs and outputs

For example:
• CNC machine tool machine table, the input might be the power to the drive and the outputs
might be the position, velocity and acceleration of the table.
• Engine
• Vehicle
Control System fundamental
Control System – An interconnection of components forming a system
configuration that will provide a desired response.

The control system design engineer will attempt to evaluate the system response
by determining a mathematical model for the system.

Input + Mathematical model = Output

Conventionally the system being controlled called the plant,

Some inputs called control inputs.

The other inputs called disturbance inputs.

In the case of the ship shown in Figure 1.3, the rudder and engines are the control
inputs, whose values can be adjusted to control certain outputs, for example heading
and forward velocity. The wind, waves and current are disturbance inputs and will
induce errors in the outputs (called controlled variables) of position and forward
velocity. In addition, the disturbances will introduce increased ship motion (roll,
pitch and) which again is not desirable.

Ship as a dynamic system

Generally, the relationship between control input, disturbance input,
plant and controlled variable

Plant inputs and outputs

Control System Classification
1- Open loop system
open-loop control system is used for very simple applications. The main problem with
open-loop control is that the controlled variable is sensitive to changes in disturbance
inputs.
Example, gas fire

Actuating
Input Plant Output
device

open-loop control system

Example

Missile Launcher System

 2- Closed-Loop Control Systems
utilizes feedback to compare the actual output to the
desired output response.

or reference value Controlled variable

or setpoint

Closed-loop control system.

Control System Classification

Missile Launcher System

Closed-Loop Feedback Control System

• For example, driving a car implies controlling the vehicle
to follow the desired path to arrive safely at a planned
destination.
i. If you are driving the car yourself, you are performing manual
control of the car. (Car and driver perform a closed loop
control system)

ii. If you use design a machine, or use a computer to do it, then

you have built an control system. Without the driver
 Control System Classification

Desired
Controller Plant Output
Output
Variables
Response

Sensor

Multi Input Multi Output (MIMO) System Single Input single Output (SISO) System
Example of Purpose of Control Systems

i. Power Amplification (Gain)

– Positioning of a large radar antenna by low-power rotation of a
knob
ii. Remote Control
– Robotic arm used to pick up radioactive materials
iii. Convenience of Input Form
– Changing room temperature by thermostat position
iv. Compensation for Disturbances
– Controlling antenna position in the presence of large wind
disturbance torque
Control System Components

i. System, plant or process

– To be controlled
ii. Actuators
– Converts the control signal to a power signal
iii. Controller
– Take an action to achieve set point
iv. Sensors
– Provides measurement of the system output
v. Reference input
– Represents the desired output
General closed loop System

Disturbance
Controller Manipulating
Output Variable
Set-point Error Signal
or
Reference Actual
value + + Output
+
Controller Actuator Process
-

Feedback Signal
Sensor
Examples of Control Systems
Actual Output
+ Steering
Driver Automobile
Set-point or - mechanism
Reference
input
Sensor
Feedback Signal (a) Automobile steering control system.
(b) The driver uses the difference
between the actual and the desired
direction of travel
to generate a controlled adjustment of
the steering wheel.
(c) Typical direction-of-travel response.
Examples of Control Systems (Level)

Fluid input

Fluid Output
Examples of Control Systems
Examples of Control Systems

Robotic hand controlled by mind

Aircraft elevator control system
Room temperature control sys
Proportional control:
Here the linear movement of the valve stem is proportional to the error.
This provides a continuous modulation of the heat input to the room
producing very precise temperature control. This is used for applications
where temperature control, of say better than 1 °C is required (i.e.
hospital operating theatres, industrial standards rooms, etc.) where
accuracy is more important than cost.
(b) On-off control:
Also called thermostatic or bang-bang control, the gas valve is either fully
open or fully closed, i.e. the heater is either on or off. This form of control
produces an oscillation of about 2 or 3 °C of the actual temperature about
the desired temperature, but is cheap to implement and is used for low-
cost applications (i.e. domestic heating systems).
computer numerically controlled (cnc) machine
ship autopilot control system
The design of a control system follows these steps:
Step 1 Determine a physical system and specifications from
requirements.
Step 2. Represent the physical system as a schematic.
Step 3 Draw a functional block diagram
Step 4 Use the block diagram to obtain a mathematical model, for
every block (component).
Step 5 Reduce the block diagram.
Step 6 Analyze and design the system to meet specified requirements
and specifications that include stability, transient response, and
steady-state performance.
Summary
• In order to design and implement control systems the following
generic element are required
• Knowledge of the desired value .
• Knowledge of the Actual value or Output .
• Knowledge of the controlled variable.
• Knowledge of the actuating device .
• Knowledge of the plant .