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 input
input--output relations of
linear time invariant systems
(mechanical
mechanical,, fluid
fluid,, thermal,, and
electrical) using elemental and
structural equations. We are
h
here !
„ Obtaining transfer function
representation of LTI systems.
„ Representing control systems with
block diagrams.
g Completed

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 3

 MODELING DYNAMIC SYSTEMS

REMEMBER !
„ In this course, only Linear Time
Invariant (LTI
LTI)) systems will be
conside ed F
considered. Further,
the the
they will
ill be
lumped, deterministic and
continuous time.
„ These systems will have input
input--
output
p relations described byy linear
ordinary differential equations with
constant coefficients.

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

FLUID SYSTEM ELEMENTS - Incompressible
„ Pipe and Valve Resistances
p1 p2
„ P1, P2 : pressure at
Q R Q fluid entrance and
Δp=p1- p2 exit
exit,
p1 p2 „ Q : volumetric flow
Q R Q rate,
„ R : pipe or valve
resistance
Δp = R Q For laminar flow coefficient--constant.
coefficient
In terms of heads Hi
⎛ R ⎞
pi =ρgHi ΔH= ⎜ ⎟Q
⎝ ρg ⎠
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 5
FLUID SYSTEM ELEMENTS - Incompressible
„ Pipe and Valve Resistances
„ For turbulent flow
p1 p2
the flow rate –
Q R Q pressure drop
relation is
Δp=p1- p2
p1 p2 nonlinear..
nonlinear

Q R Q „ The resistance for

turbulent flow
depends on the
flow rate and
Q = K Δp For turbulent flow pressure drop.
drop

ˆ ΔH d ( Δp )
Q=K In terms of heads Hi R=
dQ
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 6
FLUID SYSTEM ELEMENTS - Incompressible
p

„ Tank Capacitance H : height of fluid

„ Tank capacitance is
defined as the change
Qi off fluid
fl id volume
l in
i th
the
tank corresponding to
a change g in fluid
H height.

Qo ΔV A ( ΔH )
Cf = = =A
ΔH ΔH

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

FLUID SYSTEM ELEMENTS - Incompressible
„ Tank Capacitance „ Qi, Qo : volumetric flow
rate in and out of the
tank,
Qi „ Qt : net volumetric flow
rate in (or out of) the
g tank,
H „ p : pressure at the
bottom of the tank.
tank
p
Qo

In terms of heads Hi dp
dH Qt = Cf
Qt = Cf
dt p = ρgH dt

Cf = A A
Cf =
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy
ρg 8
FLUID SYSTEM ELEMENTS - Incompressible
„ Fluid Inertance
„ inertial effect of fluid flow.
„ significant for long and thin pipes.
„ p1, p2 : pressure at
fluid entrance and
p2 exit,
p1 A
Q Q „ Q : volumetric flow
rate,
L „ A : pipe cross
cross--
sectional area,
area
Δp=p1- p2
„ L : pipe length.

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

FLUID SYSTEM ELEMENTS - Incompressible
„ Fluid Inertance p1 A p2
„ ρ : fluid density, Q Q

L
F = A( Δp) m = ρAL Δp=p
p p 1- p 2

d ⎛ Q ⎞ 1 dQ
a = v = ⎜ ⎟ =
F = ma dt ⎝ A ⎠ A dt

1 dQ
A ( Δp ) = ( ρAL )
A dt dQ ρL
Δp = I I=
A
dt
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 10
 FLUID SYSTEM ELEMENTS – EXAMPLE 1a
„ Obtain the input-
input-output relation.

Qi
„ input : Qi
Tank Area „ output : Qo
g = At
H
p1 Q Long pipe p2
R Qo
L

„ ρ : fluid density,
„ Ap : pipe cross
cross--sectional area,

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

 FLUID SYSTEM ELEMENTS – EXAMPLE 1b
„ Identify the elements.
„ Write the elemental equations
Qi
Qo
dH ⎛ A t ⎞ dp1 R
g Qt = Cf =⎜ ⎟ p2 Qo
H d
dt ⎝ ρ g ⎠ d
dt
p1
( Δp ) valve = RQo
Qo
„ Long pipe will have resistance and
inertance !
Qo p1
Δp=p1- p2 p2 ( Δp )'pipe = Rp Qo
Ap Qo dQ ⎛ ρL ⎞ dQo
''
L ( Δp ) =I =⎜ ⎟
pipe dt ⎝ Ap ⎟⎠ dt
⎜
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 12
 FLUID SYSTEM ELEMENTS – EXAMPLE 1c
„ Write the continuity and compatibility equations.

Qi Q t = Q i − Qo Qo pa
R
p2 Qo
g
H Which are
( Δp ) valve = p 2 − pa
„

continuity or
p1 compatibility
Qo = p2 − 0
equations ?
= p2
Ap
Qo p1 p2
' ''
Qo Δp = ( Δp )pipe + ( Δp )pipe = p1 - p 2
L

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

 FLUID SYSTEM ELEMENTS – EXAMPLE 1d

Tank „ Combine elemental and structural equations.

⎛ A ⎞ dp ⎛ A t ⎞ dp1
Qt = ⎜ t ⎟ 1
⎝ ρg ⎠ dt + Q t = Q i − Qo Q i - Qo = ⎜ ⎟
⎝ ρg ⎠ dt
Pipe

( Δp )'pipe = R p Qo ' ''

Δp = ( Δp )pipe + ( Δp )pipe = p1 - p 2
+
⎛ ρL ⎞ dQo ⎛ ρL ⎞ dQ
( )''
Δp pipe = ⎜ ⎟ Qo
⎜ Ap ⎟ dt p1 - p 2 = ⎜ ⎟ + R p Qo
⎝ ⎠ ⎜ Ap ⎟ dt
⎝ ⎠
Valve
( Δp ) valve = RQo + ( Δp ) valve = p2 p 2 = RQo

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

 FLUID SYSTEM ELEMENTS – EXAMPLE 1e

Tank „ Eliminate p1 and p2 from these

⎛ A ⎞ dp
d
3 equations to obtain the
Q i - Qo = ⎜ t ⎟ 1 relation between the input Qi
⎝ ρg ⎠ dt
and output Qo.
Pipe
p
⎛ ρL ⎞ dQo
p1 - p 2 = ⎜ ⎟ + R p Qo
⎜ Ap ⎟ dt
⎝ ⎠
Valve
p 2 = RQo ⎛ At ⎞ ⎛ L ⎞ d 2 Qo ⎛ A t ⎞ dQo
⎜
⎜ Ap
⎟⎜ ⎟
⎟ ⎝ g ⎠ dt 2 (
+ R + Rp ⎜
⎝
)ρ g
⎟
⎠ dt
+ Qo = Q i
⎝ ⎠

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

 STRUCTURAL EQUATIONS – Example
„ Piston+cylinder is a very common component in
hydromechanical
y systems.
y
„ Two structural equations can be written for this
component.

Piston+cylinder
dx

x Q = Ap
p F dt
Q
Ap
F = App

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 16

 MODELING DYNAMIC SYSTEMS
OBJECTIVES
„ Deriving input
input--output relations of
linear time invariant systems
(mechanical
mechanical,, fluid
fluid,, thermal
thermal,, and
electrical) using elemental and
structural equations. We are
h
here !
„ Obtaining transfer function
representation of LTI systems.
„ Representing control systems with
block diagrams.
g Completed

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 17

 THERMAL SYSTEM ELEMENTS
„ Thermal systems are those which
involve
i l h t ttransfer
heat f b t
between
elements. Energy is stored and
transferred as heat.
heat
„ The two variables associated with
thermal system elements are thus
• temperature
• heat flow

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

 THERMAL SYSTEM ELEMENTS
„ Thermal system elements are
modelled
d ll d as lumped
l d thermal
th l
capacitance and lumped thermal
resistance..
resistance
„ There is no thermal inertance
element..
element

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

 THERMAL SYSTEM ELEMENTS

„ Thermal Capacitance
p : relates an object’s
j
temperature to the amount of heat energy
stored by this object.

E = CT T CT = mcp

E : heat energy,
CT : thermal capacitance,
m : mass,
cp : specific heat.

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

 THERMAL SYSTEM ELEMENTS

„ To find the heat flow rate,, one differentiates

the energy equation. The rate of change of
heat energy will be equal to the net heat
flow in or out of the object.
object
dE d dT
qn = = ( CT T ) = CT
dt dt dt
q1
qn : net heat flow rate.
k
qn = ∑ q i Object
qk
1 q2

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

 THERMAL SYSTEM ELEMENTS

„ Thermal Resistance
The relation between the heat flow rate as a
function of the temperature
p difference is
given by :
Why is ΔT = R T qh
it called
resistance ? ΔV (Δp)

R i (Q)
RT : thermal resistance,
resistance
qh : heat flow rate,
ΔT : temperature difference.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 22
 THERMAL SYSTEM ELEMENTS

„ Heat can be transferred by :

• Conduction (diffusion through a
),
substance),
• Convection (fluid transport),
• Radiation
Radiation..

„ In this course only the first two will

be considered.
considered Why ?
4 4
qh = β T1 − T2 ( )
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 23
 THERMAL SYSTEM ELEMENTS
„ Thermal Resistance
ΔT = R T qh
If the heat transfer is by
conduction :
⎛ kA ⎞
qh qh = ⎜ ⎟ ( T1 − T2 )
T1 ⎝ L ⎠
Thus the thermal resistance is
T2 given by :
Wall L
Α : Heat
H t fl
flow
RT =
area
kA
L
k : thermal conductivity.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 24
 THERMAL SYSTEM ELEMENTS

„ Thermal Resistance
ΔT = R T qh
If the heat transfer is by
convection :

qh qh = hA ( T1 − T2 )
T1
The thermal resistance is then
T2
given by :
1
Α : Heat flow area RT =
hA
h : film coefficient.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 25
 THERMAL SYSTEM ELEMENTS – Example 2
„ Dynamics of quenching
A copper sphere is immersed in a hot
fluid (infinite mass). Write the relation
Tf qh between the temperature of the sphere
and that of the fluid.
Ts
m : mass of copper sphere,
cp : specific heat of copper,
h : film coefficient.
Continuity
Elemental equations : equation :
dTs
dTs qn = qh mcp = hA ( Tf − Ts )
q n = CT CT = mcp dt
dt
dTs
R =
1
Eliminate mcp + hATs = hATf
R Tqh = Tf − Ts T hA dt
qn and qh.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 26
 THERMAL SYSTEM ELEMENTS – Example 3a

„ Temperature dynamics of two rooms

• Upper
Upper, lower
lower, and left sides are perfectly insulated
insulated,
i.e., there is no heat transfer through them.

Input(s) :
T0
1. Heat supply rate
Room 2: C2 Room 1: C1 of heater, qh
q10
T2 q12
T1 2. Outside
qh R1 temperature, To
R2 Output :

Heater
1. 2nd room
t
temperature,
t T2
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 27
 THERMAL SYSTEM ELEMENTS – Example 3b

T0 „ Thermal Capacitances :
R
Room 2
2: C2 R
Room 1
1: C1 R1 - Room 1
T2 T1 q10 dT1
q12 qn1 = C1
qh dt
d
- Room 2
R2
dT
qn2 = C2 2
„ Thermal Resistances : dt

- Intermediate Wall R 2 q12 = T1 − T2

„ - Right wall R1q10 = T1 − T0

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

 THERMAL SYSTEM ELEMENTS – Example 3c

„ Structural equations :
R
Room 1 qn1 = qh − q10 − q12

Room 2 qn2 = q12

Insert the structural equations into

the elemental equations.
q

dT dT
qh − q10 − q12 = C1 1 q12 = C2 2
dt dt

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

 THERMAL SYSTEM ELEMENTS – Example 3d

„ Eliminate qij and T1 from the equations.

dT
q12 = C2 2 R 2 q12 = T1 − T2
dt

dT1 d 2 T2 dT2 dT2

= R 2 C2 + T1 = R 2 C2 + T2
dt 2 dt dt
dt

R1q10 = T1 − T0

C2 R 2 dT2 1 1
q10 = + T2 − T
R1 dt R1 R1 0

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

 THERMAL SYSTEM ELEMENTS – Example 3e
C2 R 2 dT2 1 1
q10 = + T2 − T0
R1 dt R1 R1
dT2
q12 = C2
dt

dT1
qh − q10 − q12 = C1
dt dT1 d 2 T2 dT2
= R 2 C2 +
dt 2 dt
dt

d 2 T2 dT2
( C1C2 R1 R 2 ) 2
+ ( C1 R1 + C2 R1 + C2 R 2 )
dt
+ T2 = R1qh + T0
dt

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

 THERMAL SYSTEM ELEMENTS – Example 3f

d 2 T2 dT2
( C1C2 R1 R 2 ) 2
+ ( C1 R1 + C2 R1 + C2 R 2 )
dt
+ T2 = R1qh + T0
dt

„ Note that this equation can be written in the

form :

d 2 ΔT dΔ T
( C1C2 R1 R 2 ) 2
+ ( C1 R1 + C2 R1 + C2 R 2 )
dt
+ Δ T = R1q h
dt

„ where ΔT = T2 − T0

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

 MODELING DYNAMIC SYSTEMS
OBJECTIVES
„ Deriving input
input--output relations of
linear time invariant systems
(mechanical
mechanical,, fluid
fluid,, thermal
thermal,, and
electrical)
electrical ) using elemental and
We are
structural equations.
here ! C
Completed
l t d
„ Obtaining transfer function
representation of LTI systems.
„ Representing control systems
with block diagrams.
g
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 33
 ELECTRICAL SYSTEM ELEMENTS
„ Electrical Resistance
An electrical resistance, R, tries to prevent
the flow of electrical current, i, and converts
electrical energy to heat.
heat
Thus, it is a dissipative element, equivalent
to a damper in mechanical systems.
iR

eR = Ri R
R
eR

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

 ELECTRICAL SYSTEM ELEMENTS
„ Electrical Capacitance
Capacitance is the property that 1
eC = q C
allows charge, q, to be stored. C
The relation between charge and dq
qC
iC =
current is : iC dt

deC
iC = C
C dt
eC

An electrical capacitance is equivalent of

mass in mechanical systems.

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

 ELECTRICAL SYSTEM ELEMENTS
„ Electrical Inductance
Inductance, L, is defined as the
φ
coefficient of the relation between L=
iL
magnetic flux and current.
The relation between flux and dφ
eL =
voltage
g is : dt
iL Thus :
di L
L
eL = L
dt
eL

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

 Active Elements

All the elements considered so far have all

been passive
passi e elements,
elements, ii.e.,
e the
they can sto
store
e
energy and release the stored energy into the
system. Since they do not have an external
power supply, however, they can only deliver
the energy stored previously.
Active
i elements
elements,
l , on the
h other
h h
hand,
d possess
their own external source of power. They can
gy into the system.
deliver external energy y

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

 Active Elements

A couple of familiar examples to active

elements aare
e the ccurrent
ent and voltage
oltage sources
so ces
used in electrical systems. They can maintain
a set current or voltage, irrespective of the
system behavior.
-

i(t) v(t)

Current Source Voltage Source

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

 Active Elements
A cam might be considered as the mechanical
equivalent to the voltage source.
Similarly, a positive displacement pump could
provide a (
p (almost)) constant flow rate
irrespective of the system pressure. Thus it
may be treated as equivalent to a current
source.
source
A large reservoir,
reservoir, say a lake, may be
considered to be equivalent to a voltage
source. It can provide a pressure at a certain
depth which is not affected by the amount of
flow rate drawn from the lake .
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 39
 Active Elements

A thermal equivalent to a current source could

be an electric heater which can provide a
specified heat flow rate irrespective of the
temperature
p difference with the surroundings.
g
The atmosphere may be considered as the
equivalent of a voltage source, as it provides
a temperature variation which is not affected
by the thermal systems that may be in
operation.

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

ELECTRICAL SYSTEM ELEMENTS – Example 4a
See Dorf& Bishop, Example 2.4

„ Determine the relation between

the current input and the voltage
output.

iR iC iL
i(t) R L e
Input C Output

Current
C ent
Source

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

ELECTRICAL SYSTEM ELEMENTS – Example 4b

„ Write the elemental equations.

q

iR iC iL
R eR C eC L eL

deC di L
eR = Ri R iC = C eL = L
dt dt

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

i(t) i iC iL ELECTRICAL SYSTEM
R
R L
C e ELEMENTS – Example 4c

„ Write the structural equations (Kirchoff’s

laws).
• Continuity equation (node equation) :

i R + iC + i L = i(t)

• Compatibility equation (loop equations):

eR = eC = eL = e

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

 ELECTRICAL SYSTEM
e R = eC = e L = e
ELEMENTS – Example
E l 4d
deC di L
eR = Ri R C
i = C e L = L
dt dt
„ Combine elemental and
i R + iC + i L = i(t) structural equations to
obtain the input-
input-output
relation.
l ti

1 de 1 d2e 1 de 1 di(t)
e + C + ∫ edt = i(t) C + + e=
R dt L dt 2 R dt L dt

d2e de di(t)
RCL + L + Re = RL
2 dt dt
dt

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 44

 OBSERVATIONS

It seems that variables can be classified in

two groups* :

Through variables : Across variables :

F
Force, Velocity,
V l it
Torque, Angular Velocity,
Flow rate,
rate Pressure (Head),
(Head)
Heat Flow Rate, and Temperature, and
Current
Current. Voltage
Voltage.

* Dorf & Bishop, Table 2.1

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 45
 OBSERVATIONS
Nise Tables 2
2.3,
3 22.4,
4 22.5
5
Dorf & Bishop, Table 2.2

Storage Dissipative Elastic

„ Mechanical
dV 1 ΔV =
1 dF
F=m ΔV = F
• Translational dt b k dt
dω 1 1 dT
• Rotational T=J Δω = T Δω =
dt b k dt
dH Δp = R Q dQ
„ Fluid Q=C
dt
Δp = I
dt
dT
„ Th
Thermal
l q=C ΔT = R T qh
dt
de eR = Ri R di
„ Electrical i=C e=L
dt dt
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 46
 ABBREVIATIONS

„ A/P Æ Autopilot

„ R/AÆ
R/A Æ Radio
R di Alti
Altimeter
t

„ ILS Æ Instrument Landing

g System
y

„ INOP Æ Inoperational

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