lj ,'' -.

ti

323 COMTROL SYSTEMS ENGINEERTNG

Lectures B0 Hours

en eligibili-ty tesL should be adminisEered to all,planning tso of fer t.hi.s optional -subject_ for Pa-rt III.

r cover tropics Lhe stsudenEs should have learnt in Part

sEudents who areThe lesE should

I and 1I " These

Fourier sine coefficients

topics are essential 'to follow Ehe lecture Series on control sysEemsengineering. Since only 132. hours have been alLocated for this sturjecEihese Eopics will not be again taught in depth"

Topics to be covered bv Ehe eliqibilitv test

Dif f erenEial EguaEions

Classificatsion of differential eguations, Solution of lineardifferencial eguations with constant coefficients, particular'intsegraI, complementary soluEion, hornogeneous differential

. equat.ions,

Laplace transform (LT)

Definition, properties of LT, LT of simple funct.ions, lnverseLaplace transform, partial fracEions

Fourier transform

Fourier sine transform, Determination ofof a skew symmetric periodic functions

Complex algebra

ManipulaEion of complex numbers, mapping, parEial fract.ionsinvolving complex numbers, representation of a periodic funcEion by

. a complex number, determination of magnitude and phase of a ratio of' Lwo complex polynomials

Nonlinear sysEems

SoluLion of second order differential equations using pir"t" planemethod, nonlinearitsies due to hysE.eresis, backlash, saEuration

Property measurement-

Use of sErain gauges (for.mechanical stream) use of thermocouples,Ehermistors (for electrical and electronic streams)

Matrix algebra

DeEerminants, matrix multiplicaEion, determination of inverse,deEermination of eigenvalues, eigenvectors, rank of a matrix,.letermination of rank

Only Lhose who obtain an A (over ?0t) for the prerecruisite tesE should beallowed to reqister for the subject.

Section A - Linear Control Svstems (32) Hours

A1. Introductionqimnle oroperLj-es of open - and closed - loop;i;ii;";i; description of simple contror svstems'

;;;;i;;;;, stabili-tY, and sensitivitY'

F.2. TransienE and Steadv State Fnalvsis

ma1

Dvnamics of simple ]inear dewices and systems, Governing differentiaiequati_ons ror irr5i" electrical, m-echanical-, thermal, f luidj'c elements suctl

asinductor,capacitor,mass,'i"""""friction,thermalstorageelement,f luid itorage .

'*-*.;;sentariori-oi ayna*i" systems using higirer -order

differential "nr"i;"";:.-"-;;?;;iJior"or Laplice transform' ProperLies

useful for contr;i engineers' -;;lt

impuls6-' unit step and unit ramp

functions, rr".. -.rra f &ced r"=plti"",

- i'in=r1t f unction' Transient' and

steady state ,"rpo.r="=, positiorr'"rrot consEanE, velocity error const'ant'

Transf er tr_,r-r.tr5ri""i"'"r*Jf . engineering sysEems such as R-C circuits,uniry and ,ror.rrrfiy--reeabacx "y==l;;;l- "-r.i1-.

transfer funcEion, block

diaqram ,"pr"="rrt.tio' of systeilr=, r',ri.. for manipulating block diagrams '

chaiacteri gtic equagion, pole- zeiJ,"pr&""tation] crosedlloop time domain

;;;;;;t;;tions,. iouth-Iie twitz criterion

02 lirrs

sysEems. TerminologY,ConcePts of accuracY;

18 Hf-ns

l2 tirn:s

2a._lors.

16 I{r-!6

il

tIIIttI

I

IBasisforfrequency.d.omainanalysis,Steady..staEeresponseoflineirsystems to sinusoid;l inputs and q-eneral periodic inputs ' OutPuL Response

oi nonuniry reedba-ck. svstems ;- :i*i11i'-.-':n15i:njl{1"'"'rt"r;:'3:}i:IllrJ""Jr:ll,tro"ti"Hl'ln]II'ilinri e"e.-dj."-g'"*", Nichol-'3 charr, series

.;;;;;i"" "ti"g phase-Iag Jnd phase-lead compensators'

.l

81. State - variable Analvsis for Sinole-Input Sinqle-Output (SJSO'tOB llres

svstems

RepreSenEationofhigher-orderconsEantcoefficientdifferentialequationsfor srso sysrems usiirg a ser or.r-iJ"t-;;;;r di.fferential equations' phase-

variable canonicJioi*, .h"tu'"i.*t-i=-tit Lq""tion and eigenvalues' transfer

f;;;;;;, pole-zero cancellation

I

t

General VecLor-matrix differentsial equatsions for systems' classificar:ionor sysrems by ii;';".:T--?'1T.gli^::'*:: il :*I:: "':T]="1:f""i'?i::.;J.==t'[iloti,],1'd:J"=,r';];l? r"a.i,"'a..,." (v) ..,iIos or discrete (vi)l-inlar or ,rotrii""i:

-irii) homogendo.u=- 1I--::"h"mogerieous'''

Equilibriumpoints, Lineari,"t:-o" of systems-about a given operating point'

concepts:linear transformat'ions'controllabilitsY, solutionmatrix, resolvenE matrl.x'

with reference co tsj-me-independent linear systems (TrLs) the following

Jordan canonical form sEabilitrY'of state equations, state Erarroibion

CayeleY-HamilEon theorem!

SECTION C - NONLINEAR SYSTEMS' DISCRETE SYSTEMS' AND PROCESS CONTROL24 lir-Es

IIIIIIIIIIr,IITI

Ii

eomoerison of linear and nonlinear control sysEems, mathematical modelsisi-- Ii) ldeal relay, (ii) deadband, (iii) backlash, .(iv) nonlineariilln}", (v) hysEereiis and (vi) fricEion, linearizaEion around operating#i;t: phas"-piane method, describing funcEion, limit cycle oscillat.ions,flfipuir"" meEh;d, Use of'expli-cit Euler and classical fourth-order Runge-Xurta meEhod to solve nonlinear sysEems

g34*$-{s-€.{eqe svste

Dlff*fence equaEions, Z-Eransforms, System Lransfer function of SISO

;F;;;t, Etab-ility witrh reference to the location of poles in- Ehe Z ,,Ianeli*ate-space moddt for discretse systems, diseretization of continuous;;;Ea;" ;ot included), Samplers in analog control systems, pulse Eransfer,IincUfo" t zero-order hotd, analysig o_f _an_1log feedback systems with onee;mpfer (discrebe, controllers not included) ,

C3, Transducers and Actuatsors

Transducer performance and'specifications, transducers for the measuremenEoi- ii"""r ind angular displacements, force, veloci-ty. and acceleration,,,i."rrr. differenCe, Lemperature thermocouples and Resist.ance-Temperatureb"t""tors (RTD) , thermal and transport. )-ag, use of strain gauges '

Various t)T)es of aqEuators, RepresentaEion. o.f acE.uaEor dynamics usingi;;;;i;, ir-inction, conversion of acEuaEor driving signa-Is f rom electricalio prr"u*atic, acEuaEors wiEh digital inpuEs and digitsal ouEpubs.

C4. I Proqrammable Loqic Controllers PLC 06 lir-D:s'rt.

Introduction, specificaEions of PLC's, programming. hardware (Hand-he1dterminal and comPuler), software for progamming -- maErj-x programmlng,

"t"f"*""c. lisr tSil,l and Ladder D-iagram 1LDR) programming-, Entities inside

IiE-"r"fr -= inputs, outpuEs, pulse timers, on-Eimers, delay-off timers,

"orr.turr, f lags, Practical training on .LDR programming

. of a processinvolving a maximum of three inpuEs. three outputs, one Eimer, one flagand not rnore than five rungs

Summary: Section A - Linear Control SysEems - 32 }tr.as(a:- 2) + (L2 18 ) + (A3 12 )

' Sectsion B - StaEe VecEor Equations & NL - 24 lb'ns

0,6 IltrE s

06 tifrss

06_iAE

. 24 lirrs

B0 lb.-Es

only and are$otre *

(B1 B) + (82 :..6lSectrion C - NL Systems discrete Syseems(C1 6) + (C2 6) + (C3 6) + (C4 5)

TOTAL

The tirnes given are for a general guidanceapproximite.

Practical List 12 ltt'n:s

Three pracEicals to be done aL the conLro] engineering laboratory atUnivers j-t.y of Moratuwa.

Strudy of a first-order sysLem. Detrermination conErol engineeringconcLpE.s of a fi.rst-order system by an experiment (3 hours)

ManufacEure of a load ce11 using strain gauges and a t-hin-waIledcvlinder. StrudenEs will be provided with slrain gauges, thin-walled;iir;J;;,adhesive, wires an-d sofdering iron. students should make

I

)

Lhe load cell- ' (3 hours-) ' Lf there is sufficient time lefc tescing

ii-.-n" r""Jcerr could be included'

3. Programming of PLC' Students will be regui'red ::^*11i-t" the LDR

program ri] i''.#:*".f .iiar.urial process n6eding PLC controf ' Ths

programme,,iilr-65 ao*,,r.""J;J f';m computer to tshe PLC. The program

in rhe pl;-;;;r1a -1" Eh:; "i*"r"t"a bv arEificiallv activatr5'ns

inPuts. (3 houis)

}.ioEe:Theconcrolenglnee,ringlaboraEorycanaccomniodaEel2studenE'sforone 3-hour sess:-on'

ASSESSMENT PATTERN

r oualifvinq Test' Ehe lecturer-in-charge'at

A Qualifying Mcd -type exam should be given by

rhe.endofthelettureseries.Thi;testcouldof2hoursdtlratsionconsisting of roo -.rrort qr""iior"--on fundamentals of control systems

engineering '

Those who ,pasp this tesE will be eligible for Ehe 3-hour Final

Examinatsioh"

rr 3-Hour Final Exaq+4?qion ::

ith 3 quesEions each' The

H: " 3I;;';:;":"H:;- E]i=:;;"+9"'3 ii!' ?*i .!;"'1 6"; 1 -vi!l e";i;; bl ;;i

spaoe* be.c*een*que3eio"J' -c"t'iii"i;';11;;ite the answers in the space

p-rovided. (rhit;=;iii'i"r.. -;;;-r"t &aminers work easier) '

Crrraia"t"s'should'answer ! erlestrions selecting not' more Ehan t'wo f rom each

s.#r*#or1*.,p=.#;;;;t;*'".Li'rtlJ""-'1"*,.'trt:''to;whi'cb'can'storeJormulaein.synbol forffi""ffii- bb-;ij;;;e

';; that "cua"t'i" can do repe-itive

"irc.irations guickgl'' l

' REFERENCES'" "

S€ud.ent.s are sEronglY urgedbelow.

Eo have a personal copy of book Number I giwen

Automatic conEror by s.N. Verma, Khanna publishers Delhi

2.AuEomaticContsrolEngineeringbyFrancisH.Raven,McGRAW-}IIL],BooKCo'

3. FESTO Programming manual

313 DYTIAMICS OF MECHANIEAT SYSTEMS

Leccures 80 Hours

TheorY of Lubrication

Distinction beLween boundary and film lubricat.ion. Reynolds equaei6n in;;;-iilt.ing pad type thrusE bearings, Comparison of load capaciEies and*iirl*"* fiim thicknesses. Journal bearings and extrernally Pressurizedbearings.

Descriptrive analysis of vibraEion dampers,vibration decurners -

Dynamical SYstseir,st

i4athematical modelli.g. of -dynamic81-ock diagrams arid 'signal flowtransfer funcEions -

systems and Eheir representaEion,usinggiaphs. Laplace transformations and

18 Houts

vibraEion 'absorbers and

.,3 0 llours

05 Hours

05 Hours

06 Hours

Vibration 3 2 llou:q

Vibration analysis of multi-body and -distribut.ed:mass Iinear sysEems.MuIti-roEor Eorsibnal systems, geared systems and branched sysEems-viUr-t.ion of a string. Transverse vibraEion of beams " whirling of I"i.rgf"

disc on a shafC. Approxi.maEe numerical met.hods - HoIzer method and:.li-."rrection formulae, Rayleigh method, Dunkerley's method, Rayleigh-Ritz mechod, Matrix metshod and maErix it'eration'

IntroducEion Eo oEher methods of vibratig'J analysis such as fmpedance*"tf."a,' P.ecepEance meEhod and SEodola's method'

Transient response analysis of firsE and second order linear systemsiubjecued Eo impulse, step and ramp inputs'

Determination of absoluEe stability using RouEh-Hurwitz criterion. Systemanalysis using RooE-Loci.

S.requency response analysis._ Polar ploEs, Nyquistr stabiliLy criterion,Sode plols. DeEerminats.on of Gain margins and Phase margins.

LABORATORY EXPERTME}TTS

1. Design of a F)-Ywh,ee1

3. Harmonic Anal)"sis

3. Design of a Cam

RECOMT.fENDED BOOKS

Basic Lubrication TheorYA. Cari'leron (Longman)

Fundamentals of dluia Film LubricaLionBernard J. Hamrock (t'lcGraw - Hill, Inc')

lulechanics of Machines - Advanced Theory and ExamplesJ.H. Hannah & R.c. stephens (Edward Arnold Publishers Ltsd

Theory of Vibration with applicationswilliam r. ,no*lli"(;;;;s;-;rren & unwin LEd'

Vibration Problems in Engineerings. Timoshenko, i"'rl'-i"""! and w' weaver' Jr'

i;";; wilev & sons)

Mechanical VibraEionsc.K. crover (N";:a;;;d c Bros Roorkee)

Dvnamics of PhYsical SYstems

nobert a- c"t"'oi]-Ji'-'(laccraw-Hi11 Book co" )

ConErol SYstems Engineeritg-,'Stephen p' e"nisfpientice-fral1 InternaEional)

London)

-

FFiF

E

F

F

F

F

F

E

E

B

B

F

E

E

5.

6.

B.

1.

I

I

;r@i;!:!i,:jii]!:;i;]:!+.!l&.i

309 ELECTRONIE SYSTEMS ENGTNEERING

LecEures B0 Hours

If Design of AcEive Filt.ers,. oscillaEors circuits,' comparator circuits,I schmi<lct triggers,' analog computers"

Fower AmPlifiers 10 Hours

QperaEional Arnplif ier Applicabiong

Power SuPPlies

Special Electrronics Devices

programmab)-e Logic Devices and Semiconducbor Memories

Digitat to Analog and Analog to DigiEal convertors

Silicon Controlled RecEifiers (SCR): construc!ion, characteristics and;i;;i;"i-orecs and TRIACS: construcEi.on, characteristics and circuits;o"!o"f""ironic devices: photro"diodes and transistors, LEDs, opLo-coupLers,i-d;;-nJTs and applications in conLrol circuitss'

1O Houre-

10 llours

0B Hours

10 Hours

06 Hours

16 Hours

and VLSI devices used in microcomputercode, assembly programming and high

10 I{ou:':

IIII

principle of OperaEion of class A, B, AB, C-- and D power amplif:ers;a"iir"tion of p6re. efficiency.; effecLs on waveform distorEion; Power BJTs

;;a-noa;ei a"r'i""", thermal dissipation,' practical circuitss; audio poweramplifiers, HF Power amPlifiers'

Voltage.st.abilizaEion and regulation; series,' shunt and swj.tsching t1p-es of="o"fii"r", principle of opEration and practical circuiEs,' IC regulator;;i;;;;J rrrlir apritication!; DC-DC converEers:buck, boosts and buck-boost;;-";,--iivti.X, hl-1f -bridge and fuIl-bridge tlpes; UnintrerrupLible Power;l;;1i"; iupsl ' on line, off line and line interactive tr)apes

r,

IIIItIlIT

pLDs: basic organilzation, prlnciples of. operation, applications & typicaliC;, classifiJation of memories; basic memory qe11q of RoM, EPR9M,

eipnOfr,f ,- 'static i dynamic RAM; internal organizations; typical pinorganization of common memory packages '

rD,/A converLors: weighted resistor & R-2R ladder t)4)est.A/P converEors:counEer, successive ipproximation, and flash t)4pe8; practsical circuits and

applications; tYPical ICs'

iXicroprocessor SYstsems

von Neuman model of 'ai computer, LSIsystems; CPU organization; machineIevel language conceptrs;hard.ware and the arthiteccure of a representative micrbprocessor, Pilorg"rriration, interfacing Eo memory, instrucEion set, user levelr"6i=L".", assemblY Programming'

Computer Inberfacing

General inEerface cor{cepts; common peripherals and their interface.ii.,-rii" (keyboard, prinLer,' vDU) ,. common serial and para]lel interfacestandardsi iiterface-buses; IEEE- 88 instrumentatj'on bus'

q"r-

RECOT,II'{ENDED BOOKS

L. Bogart, F'G', Electsronic Devices and Circuitss' BelI & Howel1

ComPany

2- Tocci. R'J', Digit'al systems' Principles andApplications' PrenEice-

HalI' ^ -,":r.r trr .r.L6 arF nf F'llectr( universitr.y - ..i;

3. Horowitz, P'&HiIl' W'' TheArEof Electronics' Cambridge -^..,t1*

Press 'r rr:

--^^l ^^Fr^hl -q lYlrl(tI dW-nIII -

4. Millman, J' & Grebel' A" Microelectsronics' McGraw-Hi11

r

x

tG

F

F

F

F

F

F

F

F

F

F

F

F

x

x

x