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18 views40 pages

1 - Lecture1 - Compatibility Mode

Uploaded by

Fabulous Flufferbum
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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UCK303E : Automatic Control

Lecture 1 : Introduction

Prof. Dr. Gokhan Inalhan


Lecture Outline

• In this lecture we will cover


– Prac%cal Informa%on about the course
– Introduc%on to Automa%c Control
Introduction

• Prac%cal Informa%on about this course


develop all necessary theore%cal and
computa%onal skills

design (analyze and synthesize) SISO controllers for


problems in aerospace, mechanical systems,
chemical plants and electronic systems

This course is intended to serve as an introductory level controls


course, upon which you can build and gain specializa8ons such
as embedded control systems, robust control and adap8ve
control.
Basic components of a control system
A manual control system for regulating the level of fluid in a tank by
adjusting the output valve. The operator views the level of fluid
through a port in the side of the tank.
Watt’s flyball governor
Automobile steering control system

continued on next slide


The driver uses the difference between the actual and the desired
direction of travel to generate a controlled adjustment of the steering
wheel
Typical direction-of-travel response
Idle-speed control system.
Open-loop control system
(without feedback)
Closed-loop feedback
control system
(a) Typical response of the open-loop idle-speed control
system.
(b) Typical response of the closed-loop idle-speed control
system.
Closed-loop feedback system with
external disturbances and
measurement noise
Example : Automobile Cruise Control
Multiloop feedback system with an
inner loop and an outer loop
An unmanned aerial vehicle.
Used with permission. Credit: DARPA.
Example : A feedback control system
model of the national income.
Example: Heart-rate control.
Multivariable control system
Example: Coordinated control system for a boiler–
generator.
Microrover designed to explore an asteroid.
Photo courtesy of NASA.
Automated parallel parking of an
automobile
The control system design process
The key elements of mechatronics
The hybrid fuel automobile can be viewed as a mechatronic
system.
Used with permission of DOE/NREL. Credit: Warren Gretz
Let’s look at it a li7le deeper
Sensor and Actuators
Sensors for feedback
Sensors, Actuators and Control
Example : Dragonfly UAV (Stanford)
Actuator Control
Serial Comm. Board PC-104 Bus
Computer

Air-Data Probe

IMU
…..
Data Acquisi=on Board

DragonFly Unmanned Aerial Vehicle

GPS Receiver
Single board Computer

Wireless Modem

..
Sensors and actuators
connected by RS-232 Data
lines

Wing span: 10 F, Weight : 65 lbs


Sensor Example : Goodrich IMU

Rates

Filtered
The way forward…
Technology roadmap to the Internet of Things with
applications to control engineering.
Source: SRI Business Intelligence
Selected Historical Developments of
Control Systems

continued on next slide


continued on next slide
continued on next slide
Future evolution of control
systems and robotics.

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