ME 304

CONTROL SYSTEMS
Radar Dish Mechanical Engineering Department,
Middle East Technical University

Armature Inside
controlled Outside θr input
dc motor θD output

θm

G
Gearbox
b
Control
Transmitter

θD

dc amplifier Control
Transformer P f Dr.
Prof. D Y
Y. S
Samim
i ÜÜnlüsoy
lü
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 1
 CH II
COURSE OUTLINE
I. INTRODUCTION & BASIC CONCEPTS

II. MODELING DYNAMIC SYSTEMS

III. CONTROL SYSTEM COMPONENTS
IV. STABILITY
V. TRANSIENT RESPONSE
VI. STEADY STATE RESPONSE
VII. DISTURBANCE REJECTION
VIII. BASIC CONTROL ACTIONS & CONTROLLERS
IX. FREQUENCY RESPONSE ANALYSIS
X. SENSITIVITY ANALYSIS
XI. ROOT LOCUS ANALYSIS

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 2

 MODELING DYNAMIC SYSTEMS
OBJECTIVES
„ Deriving
e g input-
input
put-output relations
e at o s of
o
linear time invariant (LTI) systems
(mechanical, fluid, thermal, and
electrical) using elemental and
structural equations.
„ Obtaining transfer function
representation of LTI systems.
„ Representing control systems with
block diagrams.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 3
 MODELING DYNAMIC SYSTEMS

„ A mathematical model of a physical

system is a description of its
dynamic behaviour in terms of
mathematical
th ti l equations.
ti
„ Once a mathematical model of a
physical system is available, it is
possible to study its dynamic
properties in detail.
detail

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 4

 MODELING DYNAMIC SYSTEMS

„ In developing a mathematical
model, a compromise
between simplicity of the
model
d l and
d the
th accuracy off
the results must be reached.
„ Model should be as simple as
possible while providing all
the required characteristics
of the system in hand.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 5

 MODELING DYNAMIC SYSTEMS

„ Mathematical models may

y be
classified as :
• Lumped or distributed parameter,
parameter
• Linear or nonlinear,
• Time invariant or time varying,
• Deterministic or stochastic,
stochastic and
• Continuous time or discrete time.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 6

 MODELING DYNAMIC SYSTEMS
„ In this course, Linear Time
Invariant (LTI
(LTI)) systems will be
considered.
„ Further they will be of lumped
parameter,, deterministic and
parameter
continuous time systems.
„ These systems will have input
input--
output relations described by linear
ordinary
di diff
differential
ti l equations
ti with
ith
constant coefficients.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 7

 NONLINEAR SYSTEMS
Nise Ch
Ch. 2.10
2 10-
10-11

„ It should be noted that, in general,

all physical systems are essentially
nonlinear..
nonlinear
„ They behave
Th b h linearly,
li l however,
h
within some limited range of the
variables of interest.
interest
„ Thus, it is possible to treat most
physical systems as linear if the
variations of variables are restricted
to somewhat narrow ranges.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 8
 LINEARIZATION
„ Let us consider a nonlinear relationship
between two variables y(t) and x(t).

y(t) = f { x(t)}
„ If we consider some operating point x=xo and
write a Taylor series expansion of the
nonlinear function about the operating point :

df ( x − xo ) 2
d f ( x − xo ) 2
y = f ( x ) = f ( xo ) + + + ...
dx x = x 1! 2 2!
o dx x = x
o

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 9

 LINEARIZATION
„ Taking only the first two terms of the
expansion, a linear approximation to the
original
i i l ffunction
ti aroundd the
th operating
ti point
i t
can be obtained.
df
y = f ( x ) = f ( xo ) + ( x − xo ) = y o + m ( x − xo )
dx x = x
o

„ Thus the linear relation y

takes the form :
yo Linear
y − y o = m ( x − xo ) Approximation

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy

xo x 10
 LINEARIZATION
y
„ Obviously the
linear
linea
approximation
agrees well with
the nonlinear
relation in a yo
narrow range
about the
operating point
(xo yo).
(xo, yo)

xo x

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 11

 LINEARIZATION - Example
„ Consider a mass carried by
a spring
p g as illustrated in
k g the figure.
„ The force
force--deflection
m
characteristic
h t i ti off the
th so-
so-
called stiffening spring is
z expressed as :
Fk = az2
Fk = aδ 2 = mg „ In the static equilibrium
configuration, the
mg deflection δ of the spring
δ=
a will be g
given byy:
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 12
 LINEARIZATION - Example
Fk (z)
Fk „ Thus if the spring characteristic
is linearized around the static
equilibrium position :
Fk
o
dFk
Fk - Fko = ( z - δ ) = 2aδ ( z - δ )
dz z = δ
δ z

„ The linearized spring characteristic, valid

around the static equilibrium position, will
then be given by :
ΔFk = (2aδ ) Δz

Stiffness

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 13

 MODELING DYNAMIC SYSTEMS

„ In deriving input-
input-output relations for a
system,
t the
th procedure
d detailed
d t il d b
below
l
may be followed.
• Define the input and output
output..
• Break the system into its elements.
• Write the elemental equations.
• Write the structural equations.
• Combine elemental and structural
equations to relate input and output.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 14

 MODELING DYNAMIC SYSTEMS

„ Elemental equations can be

written for each element of a
system irrespective of the way
they
th are connected
t d to
t eachh
other.
„ Structural equations describe
how these elements are
connected
t d to
t form
f the
th system.
t

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 15

 ELEMENTAL EQUATIONS
T
Translational
l ti l Mechanical
M h i l Elements
El t
„ Ideal
dea Mass
ass (lumped,
( u ped, po
pointt mass
ass m)
)

fn m fn = ma

„ fn = net externall force,

f
a = acceleration.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 16
 Translational Mechanical Elements

„ Ideal Linear Spring k : spring constant

„ fk : force applied by the spring

fk fk
fk = k ( x1 − x 2 )
k
x1 x2 fk fk

If x1 > x 2 ⇒ spring is in compression

If x1 < x 2 ⇒ spring is in tension

fk fk
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 17
 Translational Mechanical Elements

„ Ideal Linear Spring k : spring constant

„ fk : force applied by the spring

„ Ideal spring with one end fixed:

fk
fk = kx
k
x

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 18

 Translational Mechanical Elements
„ Viscous Friction - Direction of friction force
y opposes
always pp relative motion.
„ b : coefficient of viscous friction,
„ vij : relative velocity of body i with respect to body j.

if v1 > v2
Viscous
friction v1 v12
(1)
(1) (1)

(2) (2) fb = b (v1-v2)

v2 v21
(2)

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 19

 Translational Mechanical Elements
„ Viscous Friction - Direction of friction force always
opposes relative motion.
„ b : coefficient of viscous friction,
„ vij : relative velocity of body i with respect to body j.

if v1 < v2
v1 v12
Viscous
scous (1)
( )
friction
(1) (1)
fb = b (v2-v1)
(2) (2)

v2 v21 (2)

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 20

 Translational Mechanical Elements

„ Ideal Viscous Damper

„ b : coefficient of viscous damping
„ fb : force applied by the damper
fb fb
fb = b ( x 1 − x 2 )
b
x1 x2
fb
fb = bx
b
x

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 21

 ELEMENTAL EQUATIONS
R t ti
Rotational
l Mechanical
M h i l Elements
El t
„ Inertia (Rotating Mass)
„ J : Mass moment of inertia

θ α TJ
J


TJ = Jα = Jθ

„ TJ = Net external torque,

„ α = Angular acceleration.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 22
 Rotational Mechanical Elements
„ Ideal Torsional Spring (massless elastic shaft)
kt : Torsional spring constant
Tk : Torque applied by the torsional spring

kt
Tk = k t ( θ1 − θ 2 )

Tk θ2 θ1 Tk

Massless
l
elastic shaft Tk = k t θ
kt
θ Tk
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 23
 Rotational Mechanical Elements

„ Viscous Friction
„ bt : coefficient of viscous friction

θ1 (2)
θ2 (
Tb = bt θ 1 − θ 2 )
Viscous „ Which is correct
friction Tb here ?
(2) θ 1 < θ 2 ?
θ 1 > θ 2 ?
Tb
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 24
 STRUCTURAL EQUATIONS

„ Structural equations describe how the

elements are connected to form the system.
system
„ There are two types of structural equations.
• Continuity equations.
equations. In mechanical
systems, these correspond to force (or
torque) balance at a node or on an
element..
element
equations. In mechanical
• Compatibility equations.
systems, these correspond to kinematic
position, velocity, and acceleration
relations.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 25

 STRUCTURAL EQUATIONS

„ After g
gaining
g some
experience, one may draw
and annotate the free body
di
diagrams suchh th
thatt th
the
structural equations are
automatically implemented
and do not have to be written
separately.
separately

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 26

 STRUCTURAL EQUATIONS – Example
See solved example A-
A-3-14 in Ogata !

k1 x Write the input(x)-

input(x)-output (F)
relation for the system and
determine the equivalent
F stiffness.
k2
„ Identify elements and write
the elemental equations.

k1 x1
fk1 fk2
k2
x2

fk1 = k 1 x1 fk2 = k 2 x 2

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 27

 STRUCTURAL EQUATIONS – Example

x „ Continuity equation :
k1
F = fk1 + fk2

F
„ Compatibility equation :
k2 x = x1 = x 2

k1 x1 „ Input-
Input
p -output
p relation :
fk1=k1x1
F = ( k1 + k 2 ) x
fk2=k
k2x2
k2 F = k eq x k eq = k 1 + k 2
x2

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 28

 STRUCTURAL EQUATIONS – Example
See solved example A
A--3-15 in Ogata !

„ Replace the two dampers in series with a

single equivalent
eq i alent damper.
dampe

F F

b1 b2
x1 x2 x3

F F
be

x1 x3

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 29

 STRUCTURAL EQUATIONS – Example

„ Identify the elements and write the

elemental equations
eq ations :

fb1 fb1 fb2 fb2

b1 b2
x1 x2 x2 x3

fb1 = b1 ( x 1 − x 2 ) fb2 = b 2 ( x 2 − x 3 )

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 30

 STRUCTURAL EQUATIONS - Example
F F fb1 fb1

b1 b2 b1
x1 x2 x3 x1 x2
fb2 fb2
„ Continuity equation :
b2
F = fb1 = fb2 x2 x3

„ Insert elemental equations :

F = b1 ( x 1 − x 2 ) = b 2 ( x 2 − x 3 )

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 31

 STRUCTURAL EQUATIONS - Example

„ From the continuity F F

equation obtain the
expression for the b1 b2
x1 x2 x3
intermediate velocity.

F = b1 ( x 1 − x 2 ) = b 2 ( x 2 − x 3 )
F F
be

⎛ b1 ⎞ ⎛ b2 ⎞
x 2 = ⎜ ⎟ x 1 + ⎜ ⎟ x 3 x1 x3
⎝ b1 + b 2 ⎠ ⎝ b1 + b 2 ⎠

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 32

 STRUCTURAL EQUATIONS - Example
„ Eliminate intermediate
velocity to obtain the F F
iinput-
inputt-output
t t relation
l ti for
f
a single equivalent b1 b2
x1 x2 x3
damper.
⎛ b1 ⎞ ⎛ b2 ⎞
x 2 = ⎜ ⎟ x 1 + ⎜ ⎟ x 3
⎝ b1 + b 2 ⎠ ⎝ b1 + b 2 ⎠ F F
be
F = b1 ( x 1 − x 2 )
x1 x3
b1b 2
F=
b1 + b 2
( x 1 − x 3 ) = beq ( x 1 − x 3 )
beq =
b1b 2
b1 + b 2
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 33
 STRUCTURAL EQUATIONS
T
Transforming
f i Elements
El t - Example
E l

„ Lever (massless)

vA vB Compatibility
θ yB
O
A B
vA a yA
= =
vB b y B
yA
fA a b fB
fA b
=
Continuity fB a

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 34

 STRUCTURAL EQUATIONS - Example

„ Lever (massless)

vB vA Compatibility
p y
θ
vA a yA
O B = =
A vB b y B
b
fB
fA b
a =
fA fB a
Continuity

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 35

 STRUCTURAL EQUATIONS - Example
p

„ Lever (massless)
Compatibility

ω θ v v v
= =a
A A ω θ
T F F 1
a
=
T a
Continuity

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 36

 STRUCTURAL EQUATIONS - Example
p

„ Geared Systems n : reduction ratio

θ1 R N 2
n= = =
T1 θ1 θ2 T2 θ2 r N1
R
r

θ1 θ 1 
θ1 T2
= = = =n
 
θ2 θ2 θ2 T1

„ Gear inertias are neglected !

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 37

 STRUCTURAL EQUATIONS - Example

„ Write the compatibility

equation..
equation
Gear pair
n : reduction
„ Here the compatibility ratio
equation establishes the
relation between the
angular positions (and their
derivatives) of the two θ1
shafts.
θ2

θ1 = nθ 2 θ 1 = nθ 2 
θ1 = n
θ2

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 38

 STRUCTURAL EQUATIONS - Example
p

„ Rack and Pinion

ω T
r

V T
n F = =r
ω F

„ Inertias are neglected !

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 39

 INPUT--OUTPUT RELATION
INPUT
To obtain the input-
input-output relation (equation
of motion) for a system :
1. First define input and output
output..
2
2. Identify the elements and write the
elemental equations.
equations.
3. Write the structural equations.
equations.
4. Substitute the elemental equations into the
continuity equations.
5
5. Use the compatibility equations to eliminate
all variables to leave only the input and
output..
output

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 40

 EXAMPLE – 1a
See example 2.16 in Nise !

„ Obtain the input

input--output relation (equation of motion)
for the one degree of freedom system shown in the
figure.

„ First define input and output.

k b • Input
p : force applied
pp to
mass, F
y • Output : Displacement of
m mass y.
mass, y

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 41

k b EXAMPLE – 1b
y
m
„ Identify the elements of the system
F and write the elemental equations.

y
fb = by
Lumped y
y Mass b
k
fk = ky
y
fk fn m fb

Ideal Ideal
Spring 
fn = my Damper

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 42

k b
EXAMPLE – 1c
y
m
„ In this system
y there is one
F structural equation,
equation, which
is the continuity equation
represented by the force
balance on the mass.
mass.
fk fb

y
fn m fn =F - fb - fk
F

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 43

fn = F - fb − fk

EXAMPLE – 1d
„ Now insert the elemental equations
into the structural equation,
equation eliminate
fn, fk, and fb to obtain the equation of
motion for the system.

fn = my

fb = by  = F - fb − fk  = F − by - ky
my my
fk = ky

„ Thus, the input-

input-output relation is
obtained in the form :
 + by + ky = F
my
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 44
k b
EXAMPLE – 1e
y
m „ For this simple example, you can
F reachh the
th llastt stage
t att one step
t
and write the equation directly by
inspection.

fk=ky fb =my
 = F - by - ky
my
y

fn =my
my m or
F
 + by + ky = F
my

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 45

k b
EXAMPLE – 1e
y
m „ Or you may simply argue that the
F f
force balance
b l requires
i the
th applied
li d
force F causing the motion to be
equal to the sum of all resistances.

fk=ky fb =my

y

fi =my
my m
 + by + ky = F
my
F
„ q
In this case the force required to accelerate the mass is
considered to be a resistance – note change of direction !
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 46
 EXAMPLE – 2a N 2 θ 1
Motor n= =
N1 θ 2

„ A motor drives a load

inertia through a gear pair N1 Load
and massless rigid shafts.
shafts J1
Viscous damping is
assumed at the bearings. bt1
T(t) θ1 J2
„ Obtain the relation
between motor torque N2 bt2
(input) and load shaft θ2
position (output).
Ji : mass moment of inertia,
See section 2.7 in Nise bti : viscous friction at bearing i,
and example problem
T(t) : motor torque,
A 5 3 iin Ogata
A-5-3 O t for
f
different versions. θi : rotational position of shaft i,
n : reduction ratio,
N : number of teeth on g gear .

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 47

 Motor θ 1
EXAMPLE – 2b n=
θ 2

„ Identify the elements and write J1

the elemental equations. bt1
T(t) θ1 J2
bt
Motor Inertia Viscous θ2 2
f i ti
friction Viscous
Vi
Load Inertia
bt1 friction
J1 bt2

J2
TJ1 θ1
Tbt1 θ1
θ2 TJ2
θ2 Tbt2
TJ1 = J1
θ1 Tbt1 = bt1θ 1
Tbt2 = bt2 θ 2 TJ2 = J 2
θ2
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 48
 EXAMPLE – 2c
„ To write the structural equations,
equations, the
system is divided into two parts at the
gear pair.
Motor
„ C
Compatibility
tibilit equation
ti
(gear pair):
J1
 =nθ
θ 
θ
1 2
θ1
and/or
 =nθ
 J2
θ 1 θ 2
θ2
Load
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 49
 EXAMPLE – 2d
„ To write the continuity equations, the
torque reactions on both sides must be
introduced.
Motor
T1
„ T1 : Load (resistance)
torque on J1
the pinion.
pinion
T(t) θ1
„ T2 : Drive torque on
the gear. J2

T2 θ2
L d
Load
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 50
 Motor
EXAMPLE – 2e T1
J1
3 continuity equations:
θ1
„ Torque balance on the gear J2
pair :
T2 =nT1 T2 θ2
Motor Load
„ Net torque acting on motor T1
inertia :
J1 Load
TJ1 =T(t)- T1 - Tbt1
T2
T(t) Tbt1
„ Net torque acting
i on load
l d
J
inertia :
TJ2 =T2 - Tbt2 2
Tbt2

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 51

EXAMPLE – 2f
„ Note that T1 and T2 appearing in the continuity
equations are internal reaction torques and are of no
interest at this point. Thus eliminate them using the
three continuity equations.

TJ1 = T(t)
( ) − T1 − Tbt1 T1 = T(t)
( ) − TJ1 − Tbt1

T2 = nT1
TJ2 = T2 − Tbt2
T2 = TJ2 + Tbt2

TJ2 +Tbt2 =n ⎡⎣ T(t)-

( ) TJ1 - Tbt1 ⎦⎤
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 52
EXAMPLE – 2g
„ Now, insert the elemental equations into the
combined continuityy equation,
q ,

TJ2 = J 2
θ2 TJ1 = J1
θ1

TJ2 + Tbt2 = n ⎡⎣T(t) − TJ1 − Tbt1 ⎤⎦

Tbt2 = bt2 θ 2 Tbt1 = bt1θ 1

 +b θ
J2θ  =n ⎡ T(t)- J θ
 -b θ ⎤
2 t2 2 ⎣ 1 1 t1 1 ⎦

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 53

  +b θ
J2θ  ⎡   ⎤
2 t2 2 =n ⎣ T(t)- J1θ1 -bt1θ1 ⎦

EXAMPLE – 2h θ 1 = nθ 2

θ1 = n
θ2
„ Finally use the compatibility equations to
eliminate
li i θ1 andd its
i derivatives
d i i to obtain
b i theh
input--output relation.
input

(
θ2 + bt2θ 2 = n ⎡T(t) − J1 n
J 2
⎣ )
θ2 − bt1 nθ 2 ⎤
⎦ ( )

( )
n2J1 +J2 θ (
 + n2b +b θ
2 t1
 =nT(t)
t2 2 ( ) )
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 54
 Reading
g

„ Nise
Ni – Sections
S ti 2
2.5,
5 22.6,
6 2.7,
2 7 2.10
2 10
and 2.11
(M d li
(Modeling only)
l )

„ Ogata – Section 3.1, Example problems

A-3-14,, 15,
5, a
and
d 16
6

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 55