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Cs-Module 1 Notes

A control system is a dynamic system that regulates itself or another system to give controlled output under given input conditions. There are two types of control systems: open loop and closed loop (feedback). An open loop system's control action is independent of its output, while a closed loop system's control action depends on its output, making it more accurate but also more complex. The key components of a closed loop system are a sensor that measures the output, a controller that compares it to the desired input and generates an error signal, and an actuator that adjusts the system to minimize the error.

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251 views

Cs-Module 1 Notes

A control system is a dynamic system that regulates itself or another system to give controlled output under given input conditions. There are two types of control systems: open loop and closed loop (feedback). An open loop system's control action is independent of its output, while a closed loop system's control action depends on its output, making it more accurate but also more complex. The key components of a closed loop system are a sensor that measures the output, a controller that compares it to the desired input and generates an error signal, and an actuator that adjusts the system to minimize the error.

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Supritha
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© © All Rights Reserved
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CONTROL SYSTEMS

A Control System is a dynamic system which, “under given input conditions


gives controlled output” satisfying well-defined specifications.
A Control System is an arrangement of physical components connected or
related in such a manner as to command, direct, or regulate itself or another
system.
A system is defined as a physical component or a group of physical
components connected or related in such a manner as to form an entity. A system
can perform a function only when all the components are put together and not by
any single or individual component. A system may be electrical, electronic, thermal,
hydraulic, biological, pneumatic, organizational, etc. Every system has got input
and an output.

I/P SYSTEM O/ P

INPUT: It is the excitation applied to the system.


OUTPUT: Response from the system for a given input.

OPEN LOOP AND CLOSED LOOP CONTROL SYSTEMS (NON-FEED BACK &
FEED BACK CONTROL SYSTEM)
The difference between open loop and closed loop system lies in the
relationship between the control action and the output of the system.
An open loop control system is one in which the control action is independent
of the output.

INPUT CONTROLLER DYNAMIC UNIT OUTPUT

Ex. Washing machine, ordinary iron box, toaster, automatic traffic control system
etc.
A closed loop control system is one in which the control action is dependent
on the output. Closed loop control systems are called feed back control system.

INPUT CONTROLLER PLANT OR PROCESS OUTPUT

MEASURING ELEMENT

Ex. Automatic iron box, walking with eyes open, traffic control by policeman etc.
In a feedback control system (closed loop control system) the response is
compared with the reference input and any difference between these two, i.e., the
error, is used to reduce the difference. A feed back system compare, what we are
getting with what we are asking for and uses any difference to drive the output into
close correspondence with the input. The comparison made makes the system
very effective for control purposes.

ADVANTAGES OF OPEN LOOP SYSTEM


1. Simple construction and easy maintenance.
2. Less expensive than a closed loop system.
3. The system is very stable.
4. More convenient in cases where it is difficult to measure the output or
economically not feasible.
DISADVANTAGES OF OPEN LOOP SYSTEM
1. It will be substandard in performance if the components of the system are non-
linear.
2. Since the practical systems are linear only over some range-band width is rather
small.
3. Disturbances and changes in calibration cause errors and the output may be
different from what is desired.
4. Output re-calibration is necessary to maintain the required quality.

ACCURACY ON OPEN LOOP CONTROL SYSTEM DEPENDS ON:


1. The accuracy with which the output-input relationship is setup or calibrated.
2. The permeance of the calibration over long time intervals.
3. The effects of varying environmental conditions. (Temperature, vibration, shock,
line voltage variations, noise, aging and loading).

ADVANTAGES OF CLOSED LOOP SYSTEM


1. Accurate output is realized.
2. Bandwidth is enlarged. Bandwidth is the range of frequencies over which the
system works satisfactorily.
3. Non-linearities are greatly reduced.
4. Fast response.
5. Flexibility.

DISADVANTAGES OF CLOSED LOOP SYSTEMS


1. It is complicated and costly compared to open loop system (because of feedback
elements)
2. The system suffers from instability, which is inherent with the feedback system.
3. Tendency towards oscillations.

ACCURACY IN A CLOSED LOOP CONTROL SYSTEM DEPENDS ON:


1. The accuracy of the devices which monitors output.
2. The devices, which compares output and input.
3. The sensitivity and speed of the control elements which carry out the automatic
error correction.

FEED BACK:
Feedback is the property of closed loop system which permits the output or some
other controlled variable of the system to be compared with the input to the system
so that control action may be generated as some function of the output and input.
Characteristics of feed back:
1. Increased accuracy.
2. Reduces effects of non-linearities.
3. Increases bandwidth.
4. Tendency towards oscillation or instability.

A servo mechanism is a power-amplifying feed back control system in which


the controlled variable c(s) or c (t) is mechanical position or a time derivative of
position such as velocity or acceleration.
A Regulator or Regulating system is a feed back control system in which the
reference input or command is constant for long periods of time, often for the
entire time interval during which the system is operational.
The primary function of a regulator is to maintain a constant controlled output
while that of a servomechanism is most often to cause the output of the system to
follow a varying input.

LINEAR AND NON-LINEAR SYSTEMS


A system is said to be linear if it satisfies superposition and Homogeneity properties
with zero initial conditions. If the above two properties are not satisfied then it is a
non-linear system.

TIME INVARIANT AND TIME VARYING SYSTEM


When the parameters of a control system are stationary with respect to time
during the operation of the system, the system is said to be a time invariant
system.
If the parameters of a control system vary with respect to time during the
operation of the system, the sustem is said to be a time varying system.
Requirements of a good Control System: The requirements of a good control
system are speed of response, accuracy and stability.
Speed of Response: When the control system is subjected to some input or
change in input magnitude or if a distrurbance acts on the system, the system
must repsond immediately to the change and produce the steady state output
within a short time. The time taken to reach the steady state must be less than the
time interval between two inputs.
Accuracy : A good control system must reduce the error between the expected
and actual output within specified limits. If the accuracy of the control system is to
be increased then the cost of control system increases. Accuracy depends on the
quality of sensors, controllers and error comparators. Hence, optimization must be
done between accuracy and the cost of the system.
Stability : When the control system is subjected to an input or change in input
amplitude or when a disturbance acts on the system, oscillations are setup in the
system. These oscillations must decay before the next disturbance acts on the
system.
A control engineer must design his system to meet the above requirements.
The control engineer has to do optimization on accuracy, stability and cost of the
system.
An ideal control system is one which responds instantaneously and has
absolute stability and accuracy.

TRANSFER FUNCTION

Transfer function is defined as the ratio of the Laplace transform of the


output to the Laplace transform of the input with zero initial conditions .
L C(t) C(S)
T.F  M(S)  
L R(t) R(S)
or Transfer function is also defined as impulse response of the system.
Impulse input r(t) =  (t)
L r(t)  R(S)  (S)  1
C(S)
M(S)   C(S)
1
Ex: 1.

C(S)
T.F; M(S)   G(S) ; G a i n o f t h e s y s t e m
R(S)
d2 y 3d y
2. 2
  y  u(t) u(t) = input , y(t)= output.
dt dt
Taking Laplace transforms and assuming zero initial condition
S2Y(S) + 3SY(S) + Y(S) = U(S) .
Y(S) 1
T.F;M(S)   , The highest power of „S‟ in the
U(S) S 2  3S  1
denominator of the T.F gives the order of the control system.

Properties of the transfer function :


1. The transfer function is defined only for a linear time invariant system. it is not
defined for non-linear systems.
2. The transfer function between an input variable and an output variable of a
system is defined as the laplace transform of the impulse response.
3. All initial conditions of the system are set to zero.
4. The transfer function of a continuous data system is expressed only as a
function of the complex variable S. It is not a function of the real variable, time
or any other variable that is used as an independent variable.

A block diagram is a shorthand pictorial representation of the cause and


effect relationship between the input and the output of a physical system. It
provides a convenient and useful method for characterising the functiuonal
relationship among the various componenets of a control system.

INPUT SYSTEM OR PLANT OUTPUT

The arrow indicates the direction of signal flow. Each block contains a
description.
For Ex.

MECHANICAL INPUT GENERATOR ELECTRICAL OUTPUT

Block diagram of a feed back control system :

The Basic configuration of a simple closed loop control system is shown below ;
Plant (G2) also called the controlled system, is the body, process, or machine
of which a particular quantity or condition is to be controlled.

Control Elelment (G1) also called the controller is the component required to
generate the approproate control signal „m‟ applied to the plant.
Feed back elements (H) are the components required to establish the
functional relationship between the primary feedback signal B and the controlled
output „C‟.

Reference input (R) is an external signal applied to a feedback control system


in order to command a specified action of the plant. It often represents ideal
plant output behaviour.

Controlled output(C) is the quantity or condition of the plant which is


controlled.

Primary feedback signal (B) is a signal which is a function of the controlled


output „C‟ and which is algebriacally summed with the reference input, R to
obtain the actuating signal „E‟.

Actuating signal (E) also called the error or control action is the algebrraic
sum consisting of the reference input R and the primary feedback signal „B‟.

Manipulated variable (m) is that quantity or condition which the control


element G1 apply to the plant G2.

Disturbance (u) is an undesired input signal which affects the value of the
controlled output „C‟. It may enter the plant by summation with „m‟ or via an
intermediate point.

Forward path is the transmission path from the actuating signal to the
controlled output „C‟.

Feedback path is the transmission path from the controlled output „C‟ to the
primary feedback signal B.

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