Introduction toAutomatic ControlSystems.ppt

1、Introduction to Automatic Control Systems,Basic Information,Instructor Contact Information Degang Chen, 2134 Coover Hall djcheniastate.edu; 294-6277 Office Hour: MWF 12:00 2:00 pm Or any other time convenient to you Please include “EE475“ in the subject line in all email communications to avoid auto

2、-deleting or junk-filtering TA Jon Watson, 3201 Coover Hall Office Hour: 1:00-2:00 pm, TR, ALC Village B, #6 E-mail: ; Voice phone: 515-520-9569,Class Webpage,http:/class.ece.iastate.edu/djchen/ee475/2009 Please check the page for Any announcement Class notes HW assignments Lab assignments Project r

3、equirements Class policy and other info,Final Grade Weighting Schedule,Homework average: 15% Midterm exam1: 20% Midterm exam2: 20% Final exam: 30% Quizzes: 15% Discretionary bonus: 0-5% Fixed Grading Scale: A: 95 100% A: 90 95% B+: 85 90 % B: 80 85% B: 75 80% C+: 70 75% C: 65 70% C: 60 65% F: 60%,St

4、udent behavior expectations,Full attendance expected, except with prior-notified excuses On-time arrival Active participation Ask questions Answer questions from instructor or students Be cordial and considerate to students and TA Help each other in reviewing notes, HW, Matlab Promptly report/share

5、problems/issues, including typos on slides, or misspoken words from instructor,Prohibited behaviors,Any foul language or gestures Comments to other students that are discriminatory in any form Any harassments as defined by the university Academic dishonestyNo alcohol, drugs, or any other illegal / i

6、mproper substances,Accommodation/Assistance,Please let me know if you Have any special needs Have disability in any form Have any medical/mental/emergency conditions Have field trip / interview Have special requests Want me to adjust lecture contents/pace Can also consult me if you Would like to see

7、k advice on any professional or personal issues Would like to have certain confidential discussions,Catalog Description,E E 475. Automatic Control Systems. (3-0) Cr. 3. F.Prereq: 324. Stability and performance analysis of automatic control systems. The state space, root locus, and frequency response

8、 methods for control systems design. PID control and lead-lag compensation. Computer tools for control system analysis and design. Nonmajor graduate credit.,Prerequisite by topics,Knowledge and proficiency in Matlab Concept and solution of linear ordinary differential equations Laplace transform and

9、 its applications Poles, zeros, transfer functions, frequency response, Bode plots Vectors and matrices Complex numbers,OBJECTIVES,On completion of EE 475, the student will be able to do the following either by hand or with the help of computation tools such as Matlab: Define the basic terminologies

10、 used in controls systems Explain advantages and drawbacks of open-loop and closed loop control systems Obtain models of simple dynamic systems in ordinary differential equation, transfer function, state space, or block diagram form Obtain overall transfer function of a system using either block dia

11、gram algebra, or signal flow graphs, or Matlab tools. Compute and present in graphical form the output response of control systems to typical test input signals Explain the relationship between system output response and transfer function characteristics or pole/zero locations Determine the stabilit

12、y of a closed-loop control systems using the Routh-Hurwitz criteria Analyze the closed loop stability and performance of control systems based on open-loop transfer functions using the Root Locus technique Design PID or lead-lag compensator to improve the closed loop system stability and performance

13、 using the Root Locus technique Analyze the closed loop stability and performance of control systems based on open-loop transfer functions using the frequency response techniques Design PID or lead-lag compensator to improve the closed loop system stability and performance using the frequency respon

14、se techniques,Topics Covered,Review of signal systems concepts and techniques as applied to control system Block diagrams and signal flow graphs Modeling of control systems using ode, block diagrams, and transfer functions Modeling and analysis of control systems using state space methods Analysis o

15、f dynamic response of control systems, including transient response, steady state response, and tracking performance. Closed-loop stability analysis using the Routh-Hurwitz criteria Stability and performance analysis using the Root Locus techniques Control system design using the Root Locus techniqu

16、es Stability and performance analysis using the frequency response techniques Control system design using the frequency response techniques If there is time, Control system design using the state space techniques,Textbook,Automatic Control Systems, Golnaraghi and Kuo, ninth edition, Wiley, 2009Price

17、: $114.84 & this item ships for FREE with Super Saver Shipping. 20 new from $86.04 7 used from $101.57,Other References,Feedback Control of Dynamic Systems (6th Edition) by Gene Franklin, J.D. Powell, and Abbas Emami-Naeini (Hardcover - Oct 11, 2009) Buy new: $150.00 $120.00 Modern Control Engineeri

18、ng (5th Edition) by Katsuhiko Ogata (Paperback - Aug 30, 2009) Buy new: $150.00 $135.00,Other References,Modern Control Systems (11th Edition) (Pie) by Richard C. Dorf and Robert H. Bishop (Hardcover - Aug 10, 2007) Buy new: $159.00 $115.32 65 Used & new from $104.97 Control Systems Engineering, Jus

19、t Ask! Package by Norman S. Nise (Hardcover - Jun 21, 2004) Buy new: $140.60 28 Used & new from $7.00,Other References,Modern Control Theory (3rd Edition) by William L. Brogan (Paperback - Oct 11, 1990) Buy new: $150.00 $133.34 22 Used & new from $120.41Feedback Control Systems (4th Edition) by Char

20、les L. Phillips and Royce D. Harbor (Hardcover - Aug 19, 1999) Buy new: $159.00 $121.62 35 Used & new from $99.97,collaboration and helping each other,For tasks intended for group work, you are expected to find a partner and share the tasks among the group members. In a group project, effective team

21、work is critical to maximize the productivity of the whole group. In the submitted work, identify components and indicate percentage contribution by each member to each component. For tasks not intended for group work, individual submission is required. In this case, you are encouraged to discuss am

22、ong your friends on how to attack problems. However, you should write your own solution. Copying other peoples work is strictly prohibited.,Academic dishonesty,Cheating is a very serious offense. It will be dealt with in the most severe manner allowable under University regulations. If caught cheati

23、ng, you can expect a failing grade and initiation of a cheating case in the University system. Basically, its an insult to the instructor, the department and major program, and most importantly, to the person doing the cheating. Just dont. If in doubt about what might constitute cheating, send e-mai

24、l to your instructor describing the situation. If you notice anyone cheating, please report it to the instructor or the TA. Do not deal with it yourself.,Discrimination,State and Federal laws as well as Iowa State University policies prohibit any form of discrimination on the basis of race, color, a

25、ge, religion, national origin, sexual orientation, gender identity, sex, marital status, disability, or status as a U.S. veteran. Language or gestures of discriminatory nature will not be tolerated. Severe cases will be reported to appropriate offices. See ISU policies at http:/www.hrs.iastate.edu/h

26、rs/files/reaffirmation.pdf Let us make every effort to work together and create a positive, collegial, caring, and all-supportive learning environment in our classroom, laboratory, TA office, and instructor office.,Disability accommodation,Individuals with physical or mental impairments who are othe

27、rwise qualified to perform their work or pursue their studies may request reasonable accommodations to enable them to work or continue their studies. If you believe you have learning disability, you must contact Student Disability Resources at the Academic Success Center to initiate the accommodatio

28、n process.,Accommodation for religion based conflict,Iowa State University welcomes diversity of religious beliefs and practices, recognizing the contributions differing experiences and viewpoints can bring to the community. Students with religion based conflict should talk to the instructor and app

29、ropriate university offices to request accommodations at the earliest possible time.,Control System Terminology,Input - Excitation applied to a control system from an external source. Output - The response obtained from a system Feedback - The output of a system that is returned to modify the input.

30、 Error - The difference between the reference input and the output.,Negative Feedback Control System,CONTROLLER,CONTROLLED DEVICE,FEEDBACK ELEMENT,+,+,+,-,Types of Control Systems,Open-Loop Simple control system which performs its function with-out concerns for initial conditions or external inputs.

31、 Must be closely monitored. Closed-Loop (feedback) Uses the output of the process to modify the process to produce the desired result. Continually adjusts the process.,Advantages of a Closed-Loop Feedback System,Increased Accuracy Increased ability to reproduce output with varied input. Reduced Sens

32、itivity to Disturbance By self correcting it minimizes effects of system changes. Smoothing and Filtering System induced noise and distortion are reduced. Increased Bandwidth Produces sat. response to increased range of input changes.,Major Types of Feedback Used,Position Feedback Used when the outp

33、ut is a linear distance or angular measurement. Rate & Acceleration Feedback Feeds back rate of motion or rate of change of motion (acceleration) Motion smoothing Uses a electrical/mechanical device call an accelerometer,Fire Control Problem,Fire Control Problem,Input Target data Own ship data Compu

34、tations Relative motion procedure Exterior ballistics procedure,Fire Control Problem,Solutions Weapons time of flight Bearing rate Line of Sight(LOS): The line between the target and the firing platform Speed across LOS Future target position Launch angles Launch azimuth Launch elevation Weapon posi

35、tioning orders The above determines weapon trajectory: The line the weapon must travel on to intercept the target.,The Iterative Process to the Fire Control Solution,Step 1,Step 2,Step 3,Last Step,A 3-Dimensional Problem,Horizontal Reference Plane,Line of Sight,Present Range,TargetElevation,Gun Elev

36、ation,Solving the Fire Control Problem,Idle-speed control system.,Figure 1-5 (p. 5) Solar collector field.,Conceptual method of efficient water extraction using solar power.,Important components of the sun-tracking control system.,a. system concept; b. detailed layout; c. schematic; d. functional bl

37、ock diagram,Antenna azimuth position control system:,(a),(b),(c),a. Video laser disc player; b. objective lens reading pits on a laser disc; c. optical path for playback showing tracking mirror rotated by a control system to keep the laser beam positioned on the pits., Pioneer Electronics, Inc.,Comp

38、uter hard disk drive, showing disks and read/write head,Courtesy of Quantum Corp.,Response of a position control system showing effect of high and low controller gain on the output response,High gain; fast but oscillating,Control goal; fast reaction, lower overshoot, less settling time,The control system design process,Aircraft attitude defined,Winder, J. Ayers, 1988.,Control of a nuclear reactor,Grinder system, 1997, ASME.,High-speed proportional solenoid valve, 1996, ASME.,High-speed rail system showing pantograph and catenary, 1997, ASME.,