Department of Electrical & Electronics Engineering
Ege University
Chapter 1
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 1 / 30
What is control?
Control is the process of altering, manually or automatically, the
performance of a system to a desired value.
A control system is a hidden technology that manages the behavior of
a physical system.
Open a window and look at nature. You may not see it but control is there.
Q. Why Control? A. Because the systems usually do not behave the way we would like them to.
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 2 / 30
What is feedback?
Feedback is the process of measuring the controlled variable and using
that information to influence the value of the controlled variable.
Life itself, the ecology of our planet and the wealth of nations all depend on intricate, precariously balanced, and poorly understood feedback loops. We need feedback to know how well we have done and to improve our future behavior.
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 3 / 30
Examples of feedback control systems
Home appliances Manufacturing Aerospace and Military Ecological Transportation Power/Energy .. .
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 4 / 30
Home appliances
Home heating, refrigeration, and air conditioning via thermostatic
control Electronic sensing and control in cloth dryers Humidity controllers Temperature control of ovens
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 5 / 30
Home appliances Room temperature control
Turning on/off heater/cooler to maintain the room temperature at a
pre–specified level.
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 6 / 30
Manufacturing
Sensor–equipped robots for
– cutting – drilling – die casting – forging – welding – packaging – assembling Chemical process control Tension control of windup processes in textile mills Conveyor speed control with optical pyrometer sensing in hot steel rolling mills
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 7 / 30
Manufacturing Robotic arm
Control the voltage applied on the motors so that the robot hand moves along a specified trajectory (and grasp some object).
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 8 / 30
Aerospace and military
Missile guidance and control
Automatic piloting Spacecraft control Tracking systems Nuclear submarine navigation and control Fire control systems (artillery)
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 9 / 30
Aerospace and military Air traffic control
Air traffic controllers give directions for pilots so that aircraft can arrive at their destination in time and safely.
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 10 / 30
Ecological
Wildlife management and control
Control of plant chemical wastes via monitoring lakes and rivers Air pollution abatement Water control and distribution Flood control via dams and reservoirs Forest growth management
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 11 / 30
Ecological Biological systems
In response to environmental signals such as nutrition level, B. subtilis
cells can produce B. subtilin to kill competing species.
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 12 / 30
Transportation
Control of roadway vehicle traffic flows using sensors
Automatic speed control devices on automobiles Propulsion control in rail transit systems Building elevators and escalators
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 13 / 30
Transportation Cruise control
Cruise control (also known as speed control or autocruise) is a system
that automatically controls the speed of a motor vehicle.
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 14 / 30
Power/Energy
Power system control and planning
Feedback instrumentation in oil recovery Optimal control of windmill blade and solar panel surfaces Optimal power distribution via power factor control Control of smart grids
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 15 / 30
Power/Energy Photovoltaic array systems
Maximum power tracking control of photovoltaic array systems.
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 16 / 30
Types of control
Depending on whether a human body (the operator) is physically
involved in the control system, the control systems are divided into: – Manual Control: Human–machine interaction (i.e., driving a car). – Automatic Control: Room temperature control (furnace in winter, air conditioner in summer). Both of them are controlled (turned on/off) by thermostat.
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 17 / 30
Manual control system
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 18 / 30
Manual control system
This control system is completed by the operator.
– Measurement: This is essentially an estimate or appraisal of the process being controlled by the system. – Comparison: This is an examination of the likeness of the measured values and the desired values. – Computation: This is a calculated judgment that indicates how much the measured value and the desired value differ and what action and how much should be taken. – Correction: This is ultimately the materialization of the order for the adjustment.
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 19 / 30
Automatic control system
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 20 / 30
Automatic control system
This control system is completed automatically.
– Firstly, we can use a temperature measurement device to measure the water temperature, which replaces the hand of the operator. – Instead of manual valves, we use a special kind of valve, called a control valve, which is driven by compressed air or electricity. – We put a device called a controller, in this case a temperature controller, to replace the brain of the operator. This has the functions of comparison and computation and can give orders to the control valve. – The signal and order connections between the measurement device, control valve and controller are transferred through cables and wires, which replace the nerve system of the operator.
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 21 / 30
Types of control
Open–loop control: The controller does not use a measure of the system output to be controlled in computing the control action to take.
Closed–loop control: The controlled output is measured and fed back for the use in the computation of the control action (also called feedback control).
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 22 / 30
Open–loop control
Open–loop control is useful usually for well–defined systems in which
the mathematical model between input and the output to be controlled is known. It is often used in simple processes because of its simplicity and low–cost (there is no need for a sensor to read the current state of the plant). Sprinkler and conventional washing machine are examples of open–loop control. Time–operated traffic lights are one example of open–loop control, since what the lights do or even what the traffic does cannot affect the time mechanism that actuates the lights. In fact, all time–operated systems are examples of open–loop control.
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 23 / 30
Open–loop control
Figure: During UEFA Europa Cup game between Besiktas and Club Brugge the sprinklers started functioning at the 9th minute of the game (Brugge, Belgium, March 12th, 2015).
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 24 / 30
Mom in the Loop1
A conventional automatic home laundry is another example of open–loop
control, for the degree of dirtiness of the clothes does not affect the time they remain in the washer. On the other hand, when Mother washes the clothes by hand, she functions as a closed–loop system because the time she takes at the task and the vigor of her action are functions of the effectiveness of the washing operation.
1 G. S. Brown and D. P. Campbell, Principles of Servomechanisms, Dynamics and Synthesis of Closed–Loop Control Systems, John Wiley & Sons, New York, NY, USA, 1948. Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 25 / 30 A simple feedback system – Process or plant is the central component whose variables we want to control. – Compensator/controller is a device that computes the control effort to apply to the actuator, based on sensor readings. – Actuator is a device that influences controlled variable. – Disturbance is some system input which is out of our direct control. – Output sensor measures actual system output. – Reference sensor measures desired system output. Heat Loss Qout Room Gas Temp. Thermostat Furnace + House Desired Valve Qin +
Temp.
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 26 / 30
Feedback control The goal of feedback control is to use feedback to cause output of a dynamic system to follow a reference accurately, regardless of: – the reference variable’s path (i.e., for all different references), – any changes in the dynamics of the process, – any external disturbances. Control problem aims: – to obtain acceptable transient response. – to obtain acceptable steady state errors. – to minimize sensitivity to parameter changes in the plant. – to reject disturbances. Basic performance criteria are: – Stability. – Time response shape. – Frequency response shape. Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 27 / 30 Design process
Transform requirements into a physical system
Draw a functional block diagram Develop a mathematical model Reduce the block diagram Analyse and design
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 28 / 30
What happens if the control does not work?
Figure: August 2007, Clemson, South Carolina, USA.
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 29 / 30
What happens if the control does not work?
Figure: Trace of power increase associated with the Chernobyl disaster (April 26th, 1986).
Dr. Enver Tatlicioglu (EEE@EgeU) Control Systems 1 Chapter 1 30 / 30
