mech466 l24 history%26summary

8/2/2019 MECH466 L24 History%26Summary

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MECH466 : Automatic Control 1

MECH466: Automatic ControlMECH466: Automatic Control

Dr. Ryozo NagamuneDr. Ryozo NagamuneDepartment of Mechanical EngineeringDepartment of Mechanical Engineering

University of British ColumbiaUniversity of British Columbia

Lecture 24Lecture 24History of Control EngineeringHistory of Control Engineering

Course SummaryCourse Summary


Schedule from now onSchedule from now on3/20 (Tu): Gain margin, phase margin (HW8 given)3/20 (Tu): Gain margin, phase margin (HW8 given)3/22 (Th): Freq. response. Design specs3/22 (Th): Freq. response. Design specs3/27 (Tu): Freq. response. Loop shaping (HW8 due,3/27 (Tu): Freq. response. Loop shaping (HW8 due,HW9 given)HW9 given)3/29 (Th): Freq. response. Lead3/29 (Th): Freq. response. Lead --laglag4/3 (Tu): Freq. response.4/3 (Tu): Freq. response. Matlab/SimulinkMatlab/Simulink (HW9 due)(HW9 due)4/5 (Th): History of control engineering, course summary4/5 (Th): History of control engineering, course summaryLab 4 report dueLab 4 report due : two weeks after your lab, 6pm: two weeks after your lab, 6pm(Hand in reports to the instructor.)(Hand in reports to the instructor.)4/19 (Th):4/19 (Th): Final examFinal exam , 12:00pm, FSC1005, 12:00pm, FSC1005


History of Automatic ControlHistory of Automatic ControlJames WattJames Watt (1736(1736 --1819)1819)Scottish engineerScottish engineerSteam engine with Steam engine with flyball flyball governor governor

Year: 1788Year: 1788The key innovation to IndustrialThe key innovation to IndustrialRevolutionRevolution

Steam locomotiveSteam locomotive Steam boatSteam boat

Birth ofBirth of Feedback ControlFeedback Control andandControl EngineeringControl Engineering


Steam engine withSteam engine with flyballflyball governorgovernor

ShaftShaft

ValveValve

EngineEngine

GovernorGovernor

Metal ballMetal ball

SpeedSpeed BoilerBoiler SteamSteam

LeverLever

Flyball Flyball governor governor forces the engine to operate forces the engine to operate at a constant speed.at a constant speed.

Hunching problemHunching problem ..Taken fromTaken fromDorfDorf & Bishop book& Bishop book


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History of Automatic ControlHistory of Automatic ControlJames MaxwellJames Maxwell (1831(1831 --1879)1879)Scottish mathematician & physicistScottish mathematician & physicistUniversity of CambridgeUniversity of CambridgeA famous paperA famous paper On governors On governors Year: 1868Year: 1868

Analysis of stability for a 3Analysis of stability for a 3 rdrd--orderorderdifferential equationdifferential equationBirth ofBirth of Control TheoryControl TheorySpecial case ofSpecial case of RouthRouth --HurwitzHurwitzstability criterionstability criterion


History of Automatic ControlHistory of Automatic ControlEdwardEdward RouthRouth (1831(1831 --1907)1907)English mathematician (born inEnglish mathematician (born in

Quebec)Quebec)University of CambridgeUniversity of CambridgeRouth Routh stability criterion stability criterion Year: 1877Year: 1877

Analysis of stability for ordinaryAnalysis of stability for ordinarydifferential equationsdifferential equationsEquivalent to Hurwitz criterionEquivalent to Hurwitz criterion

(What you learned is(What you learned is RouthRouth ss criterion.)criterion.)


History of Automatic ControlHistory of Automatic ControlAdolf HurwitzAdolf Hurwitz (1859(1859 --1919)1919)German mathematicianGerman mathematicianETH ZurichETH Zurich

Hurwitz stability criterion Hurwitz stability criterion Year: 1895Year: 1895

Analysis of stability for ordinaryAnalysis of stability for ordinarydifferential equationsdifferential equationsEquivalent toEquivalent to RouthRouth criterion, butcriterion, butpresented in a different formpresented in a different form


History of Automatic ControlHistory of Automatic ControlAleksandrAleksandr LyapunovLyapunov (1857(1857 --1918)1918)Russian mathematicianRussian mathematicianUniversity of Saint PetersburgUniversity of Saint Petersburg

Stability analysis Stability analysis Year: 1892Year: 1892

LyapunovLyapunov methodmethodApplicable to nonlinear, timeApplicable to nonlinear, time --varying systems, too.varying systems, too.

(Normally taught in(Normally taught inNonlinear Control Nonlinear Control Course Course .).)


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History of Automatic ControlHistory of Automatic ControlHarold S. BlackHarold S. Black (1898(1898 --1983)1983)American electrical engineerAmerican electrical engineerBell Telephone LaboratoriesBell Telephone LaboratoriesNegative Negative feedback feedback amplifier amplifier Year: 1927Year: 1927

LongLong --distance telephone servicedistance telephone serviceby eliminatingby eliminating

Distortions (Distortions ( disturbance rejectiondisturbance rejection )) Noises (Noises ( noise rejectionnoise rejection ))

It can be unstableIt can be unstable . (. (NyquistNyquist !)!)


History of Automatic ControlHistory of Automatic ControlHarryHarry NyquistNyquist (1889(1889 --1976)1976)American research engineerAmerican research engineerBell Telephone LaboratoriesBell Telephone LaboratoriesNyquist Nyquist stability criterion stability criterion Year:Year: 19321932

Stability of feedback amplifiersStability of feedback amplifiersFrequency domain (Earlier stabilityFrequency domain (Earlier stabilityanalyses are in time domain.)analyses are in time domain.)CauchyCauchy s theorem in complexs theorem in complexfunction theoryfunction theory


History of Automatic ControlHistory of Automatic ControlHendrikHendrik W. BodeW. Bode (1905(1905 --1982)1982)American research engineerAmerican research engineerBell Telephone LaboratoriesBell Telephone Laboratories

Bode plot Bode plot (1938)(1938)Feedback amplifiers Feedback amplifiers (1945)(1945)

SensitivitySensitivityBode integral formulaBode integral formulaFrequency domain feedbackFrequency domain feedbackdesign and analysisdesign and analysis


History of Automatic ControlHistory of Automatic ControlJohn ZieglerJohn Ziegler (1909(1909 --1997)1997)American process control engineerAmerican process control engineerTaylor InstrumentsTaylor Instruments

Ziegler Ziegler - - Nichols tuning rule Nichols tuning rule (1942)(1942)

Nathaniel NicholsNathaniel Nichols (1914(1914 --1997)1997)MathematicianMathematicianTaylor Instruments, MITTaylor Instruments, MITZiegler Ziegler - - Nichols tuning rule Nichols tuning rule (1942)(1942)Nichols chart Nichols chart (1947)(1947)


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History of Automatic ControlHistory of Automatic ControlWalter R. EvansWalter R. Evans (1920(1920 --1999)1999)American engineerAmerican engineerNorth American AviationNorth American AviationRoot locus Root locus (1948)(1948)

Unstable plants in aerospaceUnstable plants in aerospacecontrol problemscontrol problemsDifficult to apply frequencyDifficult to apply frequency

response techniquesresponse techniquesBack to characteristic equationBack to characteristic equationand closedand closed --loop polesloop poles


Categories of Automatic ControlCategories of Automatic ControlClassical control (contents in this course)Classical control (contents in this course)

Transfer functionTransfer functionFrequency domainFrequency domain

Modern control (1960Modern control (1960 --))StateState --space modelspace modelTime domainTime domainOptimalityOptimality

PostPost --modern control (1980modern control (1980 --))Robust controlRobust controlHybrid control, etc.Hybrid control, etc.


Weak points of classical controlWeak points of classical controlSingleSingle --input singleinput single --output (SISO)output (SISO)(Multivariable (MIMO) control theory)(Multivariable (MIMO) control theory)Linear timeLinear time --invariantinvariant(State(State --space, nonlinear control theory)space, nonlinear control theory)No optimality in designNo optimality in design(Optimal control theory)(Optimal control theory)No robustness, except GM and PMNo robustness, except GM and PM(Robust control theory)(Robust control theory)

Much more control theory has been,Much more control theory has been,and is being, developed! and is being, developed!


Systematic controller design processSystematic controller design process

PlantPlantInputInput OutputOutputReferenceReference

SensorSensor

ActuatorActuatorControllerController

DisturbanceDisturbance

1. Modeling

Mathematical modelMathematical model

2. Analysis

ControllerController

3. Design

4. Implementation


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Preparation for final examPreparation for final examRead and understand the lecture slides.Read and understand the lecture slides.Solve exercise & HW problems and past exams.Solve exercise & HW problems and past exams.Read the textbook.Read the textbook.

Chapter 1Chapter 1Chapter 2 (except Sections 2.3, 2.4, 2.11)Chapter 2 (except Sections 2.3, 2.4, 2.11)Chapter 4 (except Section 4.5)Chapter 4 (except Section 4.5)Chapter 5Chapter 5Chapter 6Chapter 6Chapter 7 (except Sections 7.8, 7.11, 7.12)Chapter 7 (except Sections 7.8, 7.11, 7.12)Chapter 8 (except Section 8.7)Chapter 8 (except Section 8.7)Sections 9.1Sections 9.1 --9.5, 9.79.5, 9.7Appendix BAppendix B

ReadRead A student's guide to classical control A student's guide to classical control written bywritten byDennis Bernstein. (You can find it on the web.)Dennis Bernstein. (You can find it on the web.)


Teaching evaluationTeaching evaluationOnOn --line system for the Student Evaluation ofline system for the Student Evaluation ofTeaching (Teaching ( SEoTSEoT ) () (https:// https:// eval.olt.ubc.ca/apsceval.olt.ubc.ca/apsc ))Closing on April 10Closing on April 10This will be your only opportunity to completeThis will be your only opportunity to completean evaluation.an evaluation.This evaluation is important. It will be reviewedThis evaluation is important. It will be reviewedcarefully both by myself and by thecarefully both by myself and by theadministration.administration.It will be used for improving my teaching skill,It will be used for improving my teaching skill,as well as course contents. Please provideas well as course contents. Please provideconstructive remarksconstructive remarks ..

mech466 l24 history%26summary

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