MECH466 L1 Introduction

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2008/09 MECH466 : Automatic Control 1

MECH466: Automatic Control

Dr. Ryozo Nagamune

Department of Mechanical Engineering

University of British Columbia

Lecture 1

Introduction

Outline

Practical informationPractical information

Introduction of the courseIntroduction of the course

Instructor and TAs

InstructorInstructor: Dr. Ryozo Nagamune: Dr. Ryozo Nagamune

Assistant professor at MECH DepartmentAssistant professor at MECH Department

Email: Email: [email protected]@mech.ubc.ca

Office hours: MW 10amOffice hours: MW 10am--11am (or by appointment)11am (or by appointment)

Office: Kaiser Building 3104Office: Kaiser Building 3104

TAs for laboratory exercisesTAs for laboratory exercises

Mr. Ehsan Azadi Yazdi Mr. Ehsan Azadi Yazdi

Email:

Email:[email protected]@interchange.ubc.ca

Mr. Haoxiang (Roland) LangMr. Haoxiang (Roland) Lang

Email:

Email: [email protected]@mech.ubc.ca

Course information

WebCTWebCT(Check regularly!)(Check regularly!)

All information on this course (including lecture slides) All information on this course (including lecture slides)

will be posted. The following files are posted:

•

• MECH466_Syllabus_0809.pdfMECH466_Syllabus_0809.pdf

•

• MECH466_LabInfo_0809.pdfMECH466_LabInfo_0809.pdf

•

• MECH466_LabSchedule_0809.pdfMECH466_LabSchedule_0809.pdf

Required course textbookRequired course textbook

Control Systems EngineeringControl Systems Engineering(Fifth Edition)(Fifth Edition)

by

by N.S.NiseN.S.Nise(available at the Bookstore)(available at the Bookstore)

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Main components of the course

Lectures (25 lectures)Lectures (25 lectures)

Time: Time: TuThTuTh9:309:30--10:50am10:50am (40 min lecture

(40 min lecture ––5 min break 5 min break ––35 min lecture)35 min lecture)

Room: CEME 1202Room: CEME 1202

Midterm (February 12, Thursday, 9:30Midterm (February 12, Thursday, 9:30--10:50am)10:50am)

Final (Exam period in April)Final (Exam period in April)

Laboratory (including Laboratory (including MatlabMatlab) exercises & ) exercises & reports (explained later)

reports (explained later)

Course grading (tentative)

Midterm (20%) and Final (70%) Midterm (20%) and Final (70%)

Closed bookClosed book

Calculators are not allowed.Calculators are not allowed.

Alternative exams can be arranged:Alternative exams can be arranged:

•

• for medical reasons proven by doctorfor medical reasons proven by doctor’’s notes.s notes.

•

• for other reasons, you have to talk with the for other reasons, you have to talk with the instructor before the exam date.

instructor before the exam date.

Laboratory (including Laboratory (including MatlabMatlab) exercises (10%)) exercises (10%) Note:

Note:The instructor reserves the right to The instructor reserves the right to change the grading scheme.

change the grading scheme.

Laboratory

See the files: See the files:

MECH466_LabInfo_0809.pdfMECH466_LabInfo_0809.pdf

MECH466_LabSchedule_0809.pdfMECH466_LabSchedule_0809.pdf

Four exercises, two hours per exerciseFour exercises, two hours per exercise

Water tank level controlWater tank level control

Automobile (DC motor) speed and position controlAutomobile (DC motor) speed and position control

Labs begin the week of January 19, 2009. Labs begin the week of January 19, 2009.

Room: Kaiser building 1160 (near Starbucks)Room: Kaiser building 1160 (near Starbucks)

Lab manuals will be posted on Lab manuals will be posted on WebCTWebCT..

Ask TAs for help during the lab.Ask TAs for help during the lab.

Laboratory (cont

’

d)

Each Lab group consists of about 4 students.Each Lab group consists of about 4 students.

By Jan. 9 (Fri):By Jan. 9 (Fri):Register both the course and the lab.Register both the course and the lab.

By Jan. 12 (Mon)By Jan. 12 (Mon): The instructor will decide the : The instructor will decide the groups, and post tentative groups on

groups, and post tentative groups on WebCTWebCT..

By Jan. 13 (Tue):By Jan. 13 (Tue):Contact the instructor in case of Contact the instructor in case of inconvenience.

inconvenience.

By Jan. 16 (Fri):By Jan. 16 (Fri):Lab groups will be finalized and Lab groups will be finalized and

posted on

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Lab attendance policy

Attendance to Laboratory exercises is Attendance to Laboratory exercises is compulsory.

compulsory.

We check the attendance We check the attendance atatthe starting timethe starting time. .

If you are not in time, you have to If you are not in time, you have to

conduct the lab exercise by yourself at a rescheduled conduct the lab exercise by yourself at a rescheduled time, and

time, and

write a report by yourself.write a report by yourself.

We will be We will be VERY STRICTVERY STRICTabout this rule. Come about this rule. Come to the lab about 5 min before the starting time. to the lab about 5 min before the starting time.

Lab report hand

Lab report hand-

-in policy

in policy

Lab reports (per group) must be handed in to Lab reports (per group) must be handed in to TAs before deadlines.

TAs before deadlines.

HandHand--in your lab report #1 in your lab report #1 --#3 to TA at the beginning #3 to TA at the beginning of the next lab.

of the next lab.

The last lab report must be handedThe last lab report must be handed--in in person to the in in person to the

instructor by 5pm April 7 (Tuesday).

Late hand-Late hand-in will NOT be accepted!in will NOT be accepted!(Without (Without handing in the report in time, you lose 2.5 %

handing in the report in time, you lose 2.5 %

automatically.)

Policy on plagiarism

Groups found copying or sharing work will be Groups found copying or sharing work will be awarded a grade of zero for the lab, and subject awarded a grade of zero for the lab, and subject to possible further penalties.

to possible further penalties.

All members in the group share responsibility in All members in the group share responsibility in ensuring that submitted material has not been ensuring that submitted material has not been plagiarized.

plagiarized.

MATLAB exercises

Along with Lab 3 and Lab 4, each lab group will Along with Lab 3 and Lab 4, each lab group will be asked to solve control problems by using be asked to solve control problems by using MATLAB.

MATLAB.

UBC students have access to MATLAB at UBC students have access to MATLAB at

PACE labPACE labin ICICS X060, andin ICICS X060, and

MicrolabMicrolabin CEME 2210 & 2212.in CEME 2210 & 2212.

If you do not have access to computers in the If you do not have access to computers in the labs above, contact Mr. Alan

labs above, contact Mr. Alan SteeveSteeveat Kaiser at Kaiser building, room 1132.

building, room 1132. Email:

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Tips to pass this course

Come to the lectures as many times as you can.Come to the lectures as many times as you can.

Print out and bring lecture slides to the lecture.Print out and bring lecture slides to the lecture.

Do Do ““ExercisesExercises””given at the end of each lecture.given at the end of each lecture.

Read the textbook and the slides.Read the textbook and the slides.

Make use of instructorMake use of instructor’’s office hours.s office hours.

Keep pace with lectures.Keep pace with lectures.

If you want to get a very good gradeIf you want to get a very good grade……

Read the textbook thoroughly. Read the textbook thoroughly.

Do more than given Do more than given ““ExercisesExercises””..

Be familiar with MATLAB.Be familiar with MATLAB.

Outline

Practical informationPractical information

Introduction of the courseIntroduction of the course

What is

What is “

“Control

Control”

”

?

Make some object (called Make some object (called system, or plantsystem, or plant) ) behave as we desire.

behave as we desire.

Imagine Imagine ““controlcontrol””around you!around you!

Room temperature controlRoom temperature control

Car/bicycle drivingCar/bicycle driving

Voice volume controlVoice volume control

Balance of bank accountBalance of bank account

““ControlControl””(move) the position of the pointer(move) the position of the pointer

etc.etc.

What is

What is “

“Automatic Control

Automatic Control

”?

”

?

Not manual!Not manual!

Why do we need automatic control?Why do we need automatic control?

Convenient (room temperature control, laundry Convenient (room temperature control, laundry

machine)

Dangerous (hot/cold places, space, bomb removal)Dangerous (hot/cold places, space, bomb removal)

Impossible for human (nanometer scale precision Impossible for human (nanometer scale precision

positioning, work inside the small space that human

cannot enter, huge antennas control, elevator)

It exists in nature. (human body temperature control)It exists in nature. (human body temperature control)

High efficiency (engine control)High efficiency (engine control)

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Example: Robot arm

RoverRoverat Three Mile at Three Mile Island Nuclear Island Nuclear

Generation Station in PA Generation Station in PA

Build in 1979, when a Build in 1979, when a nuclear accident occurred.

nuclear accident occurred.

RemoteRemote--controlled robot controlled robot with an

with an armarm

Work in contaminated Work in contaminated areas

areas

Can be automated.Can be automated.

Example: Toaster

A toaster toasts bread, by setting timer.A toaster toasts bread, by setting timer.

A toaster does A toaster does not measurenot measurethe color of bread the color of bread during the toasting process.

during the toasting process.

What will happen if your setting is wrong....What will happen if your setting is wrong....

However, a toaster would be more expensive However, a toaster would be more expensive with

with sensorssensorsto measure the color and to measure the color and actuatorsactuators to adjust the timer based on the measured color. to adjust the timer based on the measured color.

Toaster

Setting of timer

Setting of timer Toasted breadToasted bread

Example: Laundry machine

A laundry machine washes clothes, by setting a A laundry machine washes clothes, by setting a program.

program.

A laundry machine does A laundry machine does not measurenot measurehow clean how clean the clothes become.

the clothes become.

Control without measuring devices (sensors) are Control without measuring devices (sensors) are called

called open-open-loop controlloop control..

Machine

Program setting

Program setting Washed clothesWashed clothes

Change the direction of the automobile.Change the direction of the automobile.

Manual closedManual closed--loop (loop (feedbackfeedback) control.) control.

Although the controlled system is Although the controlled system is ““AutomobileAutomobile””, , the

the inputinputand the and the outputoutputof the system can be of the system can be different, depending on

different, depending on control objectivescontrol objectives!!

Ex: Automobile direction control

Auto

Auto Steering

Steering

wheel

angle

Direction

Desired

direction

Eye Eye Hand

Hand Brain

Brain

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Maintain the speed of the automobile.Maintain the speed of the automobile.

Cruise control can be both manual and automatic.Cruise control can be both manual and automatic.

Note the similarity of the diagramNote the similarity of the diagramabove to the above to the diagram in the previous slide!

diagram in the previous slide!

Ex: Automobile cruise control

Auto

Auto Acceler

Acceler

ation

ation SpeedSpeed

Desired

speed

Sensor Sensor Actuator

Actuator Controller

Controller

Disturbance

Error Error

Maintain the temperature in a room.Maintain the temperature in a room.

Temperature control can be automatic.Temperature control can be automatic.

Note the similarity of the diagramNote the similarity of the diagramabove to the above to the diagram in the previous slides!

diagram in the previous slides!

Ex: Room temperature control

Room

Room Heating

Heating

switch

switch TemperatureTemperature Desired

Desired

temp.

Sensor Sensor Actuator

Controller

Disturbance

Error Error

Maintain the water level in a tank.Maintain the water level in a tank.

Water level control can be automatic.Water level control can be automatic.

Note the similarity of the diagramNote the similarity of the diagramabove to the above to the diagram in the previous slides!

diagram in the previous slides!

Ex: Water level control

Tank

Tank Valve

Valve

state

state Water levelWater level Desired

Desired

level

Sensor Sensor Actuator

Controller

Disturbance

Error Error

Basic elements in automatic feedback

control systems

Plant Plant

Input

Input OutputOutput

Reference

Sensor Sensor Actuator

Controller

Disturbance

Control system design objective

To design a controller

To design a controller s.ts.t. the output follows . the output follows the reference in a

the reference in a ““satisfactorysatisfactory””manner manner even in the face of disturbances. even in the face of disturbances. Error

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Systematic controller design process

Plant

Input

Input OutputOutput

Reference

Sensor

Actuator

Controller

Disturbance

1. Modeling

Mathematical model

2. Analysis Controller

Controller

3. Design 4. Implemenation

Goals of this course

To learn basics of feedback control systems To learn basics of feedback control systems

ModelingModelingas a transfer function and a block diagramas a transfer function and a block diagram

•

• Laplace transform (Mathematics!)Laplace transform (Mathematics!) •

• Mechanical, electrical, electromechanical systemsMechanical, electrical, electromechanical systems

AnalysisAnalysis

•

• Time response, frequency responseTime response, frequency response •

• Stability: Stability: RouthRouth--Hurwitz criterion, Hurwitz criterion, NyquistNyquistcriterioncriterion

DesignDesign

•

• Root locus technique, frequency response technique, Root locus technique, frequency response technique, PID control, lead/lag compensator

PID control, lead/lag compensator

Theory, simulation with Theory, simulation with MatlabMatlab, practice in laboratories, practice in laboratories

Course roadmap

Laplace transform

Transfer function

Models for systems

•

•mechanicalmechanical

•

•electricalelectrical

•

•electromechanicalelectromechanical

Linearization

Linearization Modeling

Modeling AnalysisAnalysis DesignDesign

Time response

•

•TransientTransient

•

•Steady stateSteady state

Frequency response

•

•Bode plotBode plot

Stability

•

•RouthRouth--HurwitzHurwitz •

•NyquistNyquist

Design specs

Root locus

Frequency domain

PID & Lead

PID & Lead--laglag

Design examples

Summary & Exercises

IntroductionIntroduction

Examples of automatic controlExamples of automatic control

Open loop and closed loop (Open loop and closed loop (feedbackfeedback) control) control

Automatic control is enjoyable!Automatic control is enjoyable!

NextNext

Laplace transformLaplace transform

ExercisesExercises

Buy the course textbook at the Bookstore.Buy the course textbook at the Bookstore.