chapter 1 introduction § 1.1 essential concepts § 1.2 scope § 1.3 history and development § 1.4...
TRANSCRIPT
Chapter 1 Introduction
§ 1.1 Essential Concepts
§ 1.2 Scope
§ 1.3 History and Development
§ 1.4 Research and Development
§ 1.1 Essential Concepts (1)
• Subject and Relation
• Subject of Statics: Mainly concern on equilibrium
• Subject of Dynamics: Mainly concern on states evolution
Subject of Statics Subject of Dynamics Subject of ControlStatics Dynamics Structure & Vibration Control
M.E. Thermodynamics Heat Transfer Thermal System ControlHydrostatics Fluid Dynamics Fluid Power Control
E.E. Electrostatics、Magnetostatics Electromagnetics Electromagnetic Control
M.E. & E.E. Mechatronics Ex: Optical Disc Drive ServoElectromachinery Ex: Motor ControlElectrohydraulics Ex: Electrohydraullic Servo Control
§ 1.1 Essential Concepts (2)
control
controller
communication
plant
system
environment
interaction
• Structure of System Control
Key words: control
communication
controller
plant
system
environment
interaction
Liberation of Mechanical Control Decomposition of signal and power
in mechanical control system through
electronics (vacuum tube, transistor,
OP,……)
• States Evolution
• States of Mechanical System: (position), (velocity)
• Controller and System Dynamics
Plant: ,
Additive control:
Control action:
New dynamics:
§ 1.1 Essential Concepts (3)
)( 0tx )( 1tx )( itx
x v
xAx )( 0tx
)(xuxAx xKxu )(
xKAx )(
..CI
• Control and Decision Making
§ 1.1 Essential Concepts (4)
Cost Information
Action
OptimalDecision
Control is an objective-oriented decision making process.
Objective
Performance
Cost Information
Action
OptimalDecision
Acceptance
Finish
No
Yes
Constraint
• Automatic derived from the Greek “Automatos”
means by its own movement
• Described by Mathematics
Statics: , if linear function (six equilibrium eq.s in space)
Dynamics: , if linear function (six D.O.F. in space)
Control: , if linear function
control dynamics
§ 1.1 Essential Concepts (5)
)()( xuxfx
)(xfx
0)( xf xAxf )(
xAx) ,( vmpFp
)(xu )(xfx u
x
xKxAx
§ 1.2 Scope
E: electrical
H: hydraulic (pneumatic)
M: mechanical
Servomechanism: position control
Control system: automatic control – closed loop
automation – open loop
closed loop
open loop
• Technological development
§ 1.3 History and Development (1)
~BC 1788 1868 1927 1934 1945 1952 1960 1965 1980
Control skill (craft)
Water level RegulationFlow ControlClock
Greece, China
Control techniques
Watt'sGovernor Speed Controlon Steam Engine
Europe(England)
Controlengineering & science
Maxwell Analysis ofGovernor's Dynamics
Europe(England)
Feedback amplifier
Black'sVacuum Tube
Repeater Amplifier
US
Servomechanism
HazenPosition Control
to reducenonlinearities
and parametervariation byfeedback
US
Cybernetics
N. WienerAnimal-machine
Control
US
MIT
NumericalControl
US
Modern control
Optimal ControlState-space Representation
US, Russia
Complex systemcontrol
Apollo Project onMoon Landing
US
Intelligentcontrol
Fuzzy ControlNeuro NetworkExpert System
US, Europe, Japan
Human-machinewith feeling
Love & Hate
US, Japan,Europe, China
1990s
• Theoretical development
Maxwell (1868): On GovernorLyapunov (1907): Problème général de la stabilité du mouvementMinorsky (1922): Directional Stability of Automatically Steered BodyNyquist (1932): Regeneration Theory
§ 1.3 History and Development (2)
Maxwell
1868 1895~1905 1932 1940 1942 1948 1960s 1970s 1980s
HurwitzRouth
1907 1922
Lyapunov
Differential equationanalysis of Governor's
Stability
Algebraic stability analysisfrom characteristic equation
Lyapunov'sstability analysis
Minorsky
Theoretical identification ofaction of 3-term control
(P.I.D. control)
Nyquist
Frequency domainfor closed-loop
stability analysis
Bode
Feedback designfrom frequency domain
Even
Idea and useof transfer function
Harris
Root locus methodfor characteristic equation
in analysis & design
KalmanPontryagin
Bellman
State-space methodfor optimal filtering
and control
AströZadeh
Self-tuning control Fuzzy logic in control
Robust control
ZamesDoyle
Safonov & Athans
m
• Mechanical Control Evolution
§ 1.3 History and Development (3)
M+E+O
Electrical signalHydraulic power Motion
Control Signal
Mechanicalsignal and power
M+H
M+E
M+H+E
Measurement
M
M: MechanicalE: EletricalH: HydraulicO: Optical
A letter to Boulton and Watt1789, Peter Drinkwater: The governor is of a nature solely calculated to secure more effectually an equable motion under different degrees of heat from the fire,……
James Watt
Watt Flyball Governor (1)
Original Script (governor, throttle valve, and connexions 1798)
• Operation principle: It measured the speed of the output shaft and utilized the movement of
the flyball with speed to control the valve and therefore the amount of steam entering the engine. As the speed increases, the ball weights rise and move away from the shaft axis thus closing the valve.
Watt Flyball Governor (2)
t
d
out of control
Governorx
d
d
Engine andRelated
ComponentsGovernor
d
Watt Flyball Governor (3)
T
T*
Mechanicalload
Engine PowerOutput
OperatingPoint
Power Balance
*
• Dynamics
loadengine TTJ
tunder control
d
Control Objective
Specifications
IdentifyControl Variables
System Model(plant,driver,actuator,sensor)
System Configuration
Controller Structure
Optimize Parameters
Systems Simulation
Meet Specs
Finalize Design
No
Yes
§ 1.4 Research and Development (1)
§ 1.4 Research and Development (2)
PlasticMachinery
IndustrialRobot
MachineTool
Machinery
SewingMachinery
IC MachineryFood
MachineryPacking
Machinery
Industrial Control Software
WoodMachinery
Industrial Controller Servo Driver Servo Actuator Sensor FacilitiesMechanical Plant
Automatic Machinery Industry
• Automatic Machinery Industry
§ 1.4 Research and Development (3)
Automation Systems
MachineTools
..............
Robots
Human/MachineSystems
Technical Systems
• Technical Systems