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CHP 26
CHP 26
CONTENTS
Fea tur
eatur es
tures
26
Automatic
Control
1. Introduction.
2. Terms Used in Automatic
control of Systems.
3. Types of Automatic Control
System.
4. Block Diagrams.
26.1. Introduction
Introduction
5. Lag in Response.
The automatic control of system (or machine) is a very
6. Transfer Function. accurate and effective means to perform desired function by
7. Overall Transfer Function. the system in which the human operator is replaced by a
8. Transfer Function for a device thereby relieving the human operator from the job thus
System with Viscous saving physical strength. The automatic control systems are
Damped Output. also called as self-activated systems. The centrifugally
9. Transfer Function of a actuated ball governor which controls the throttle valve to
Hartnell Governor. maintain the constant speed of an engine is an example of an
automatically controlled system.
10. Open-Loop Transfer
Function.
The automatic control systems are very fast, produces
uniform and quality products. It reduces the requirement of
11. Closed-Loop Transfer human operators thus minimising wage bills.
Function.
26.2. Ter ms used in Automa
erms tic Contr
utomatic ol of
Control
Systems
The following terms are generally used in automatic
control of systems :
1. Command. The result of the act of adjustment, i.e.
closing a valve, moving a lever, pressing a button etc., is
known as command.
2. Response. The subsequent result of the system to
the command is known as response.
3. Process control. The automatic control of variables
i.e. change in pressure, temperature or speed etc. in machine
is termed as process control.
1050
CONTENTS
CONTENTS
Chapter 26 : Automatic Control l 1051
4. Process controller. The device
which controls a process is called a
process controller.
5. Regulator. The device used to
keep the variables at a constant desired
value is called as regulator.
6. Kinetic control. The automatic
control of the displacement or velocity or
acceleration of a member of a machine is
called as kinetic control.
7. Feed back. It is defined as
measuring the output of the machine for
comparison with the input to the machine.
8. Error detector. A differential
device used to measure the actual
controlled quantity and to compare it
continuously with the desired value is
called an error detector. It is also known A rail-track maintenance machine.
as deviation sensor. Note : This picture is given as additional information and is not
9. Transducer. It is a device to a direct example of the current chapter.
change a signal which is in one physical form to a corresponding signal in another physical form.
A Bourdon tube is an example of transducer because it converts a pressure signal into a displacement,
thereby facilitating the indication of the pressure on a calibrated scale. The other examples of
transducer are a loud speaker (because it converts electrical signal into a sound) and a photo-
electric cell (because it converts a light signal into an electric signal). Similarly, the primary elements
of all the many different forms of thermometers are transducers.
10. Amplification. It is defined as increasing the amplitude of the signal without affecting its
waveform. For example, an error detector itself has insufficient power output to actuate the correcting
mechanism and hence the error signal has to be amplified. This is generally done by employing
mechanical or hydraulic or pneumatic amplifying elements like levers, gears and venturimeters etc.
26.3. Types of Automatic Contr
utomatic ol System
Control
The automatic control systems are of the following two types :
1. Open-loop or unmonitored system. When the input to a system is independent of the
output from the system, then the system is called an open-loop or unmonitored system. It is also
called as a calibrated system. Most measuring instruments are open-loop control systems, as for
the same input signal, the readings will depend upon things like ambient temperature and pressure.
Following are the examples of open-loop system :
(a) A simple Bourdon tube pressure gauge commonly used for measuring pressure.
(b) A simple carburettor in which the air-fuel ratio adjusted through venturi remains same
irrespective of load conditions.
(c) In traffic lights system, the timing of lights is preset irrespective of intensity of traffic.
2. Closed-loop or monitored system. When output of a system is measured and is continu-
ously compared with the required value, then it is known as closed-loop or monitored system. In
this system, the output is measured and through a feedback transducer, it is sent to an error detector
which detects any error in the output from the required value thus adjusting the input in a way to
get the required output. Following are the examples of a closed-loop system :
(a) In a traffic control system, if the flow of traffic is measured either by counting the number
of vehicles by a person or by counting the impulses due to the vehicles passing over a pressure pad
and then setting the time of signal lights.
1052 l Theory of Machines
(b) In a thermostatically controlled water heater, whenever the temperature of water heater
rises above the required point, the thermostate senses it and switches the water heater off so as to
bring the temperature down to the required point. Similarly, when the temperature falls below the
required point, the thermostate switches on the water heater to raise the temperature of water to the
required point.
26.4. Block Diagrams
Fig. 26.3. Transfer function for a system with viscous damped output.
Let θi = Input signal to the shaft,
d θo
We also know that damping torque = Td ω0 = Td ... (∵ ω0 = d θo / dt )
dt
d 2 θo dθ
I = q θi − q θo − Td o
dt 2 dt
or
Replacing d / dt by D in above equation, we get
I ( D 2 θo ) = q θi − q θo − Td ( Dθo )
or I ( D 2 θo ) + Td ( Dθo ) + q θo = q θi
T q q
D 2 θo + d ( D θo ) + (θo ) = (θi )
I I I
T
D 2 θo + d ( D θo ) + (ωn )2 θo = (ωn )2 θ ... (ii)
I
q
where ωn = Natural frequency of the shaft =
I
Also we know that viscous damping torque per unit angular velocity,
Td = 2 I ξωn or Td / I = 2 ξωn
where ξ = Damping factor or damping ratio.
Chapter 26 : Automatic Control l 1055
The equation (ii) may now be written as
D2 θ + 2 ξωn ( Dθo ) + (ωn ) 2 θo = (ωn )2 θi
θo (ωn )2
∴ Transfer function = = 2
θi D + 2 ξωn D + (ωn )2
1
=
T D + 2 ξT D + 1
2 2
2π
td 2π 1 1 ... ∵ td = ω
T= = × = n
2π ωn 2π ωn
Example 26.1. The motion of a pointer over a scale is resisted by a viscous damping torque
of magnitude 0.6 N-m at an angular velocity of 1 rad / s. The pointer, of negligible inertia, is
mounted on the end of a relatively flexible shaft of stiffness 1.2 N-m / rad, and this shaft is driven
through a 4 to 1 reduction gear box. Determine its overall transfer function.
If the input shaft to the gear box is suddenly rotated through 1 completed revolution, determine
the time taken by the pointer to reach a position within 1 percent of its final value.
Solution. Given:
Td = 0.6/1 = 0.6 N-ms/rad;
q = 1.2 N-m/rad
The control system along with its
block diagram is shown in Fig 26.4 (a)
and (b) respectively.
1. Overall transfer function
Since the inertia of the pointer is
negligible, therefore the torque generated
by the twisting of the shaft has only to
overcome the damping torque.
Therefore
q (θ1 − θo ) = Td (d θo / dt )
where θ1 = Output from the gear box. Fig. 26.4
∴ q θ1 − q θo = Td ( Dθo ) . . . (∵ d / dt = D )
or ( q + Td D ) θo = q θ1
θo q 1 1
∴ = = = ...(i)
θ1 q + Td D 1 + (Td / q) D 1 + T D
where T = Time constant = Td / q = 0.6/1.2 = 0.5s
1056 l Theory of Machines
Substituting this value in equation (i), we get
θ0 1
=
θ1 1 + 0.5D
We know that overall transfer function for the control system is
θo θ1 θ2 1 1 1
= × = × Ans. ... ∵ θ1 / θi = 4 (Given)
θi θi θ1 4 (1+ 0.5D)
dθ θi ... (∵ D ≡ d / dt)
∴ 0.5 o + θo = 4
dt
Substituting θi = 2π in the above equation, we get
dθ 2π π
0.5 o + θo = =
dt 4 2
dθ π
or 0.5 o = − θo
dt 2
Separating the variables, we get
dθ
= 2 dt
π − θo
Chapter 26 : Automatic Control l 1057
Integrating the above equation, we get
π
− loge − θo = 2 t + constant ... (ii)
2
Applying initial conditions to the above equation i.e. when t = 0, θo = 0 , we get
π
constant = − log e
2
Substituting the value of constant in equation (i),
π π
− loge − θo = 2 t − log e
2 2
π π
or log e − θo = −2 t + log e
2 2
π π
∴ − θo = e −2t ×
2 2
π / 2 − θo
or = e−2t
π/ 2
π
i.e θo = (1 − e −2t ) ... (iii)
2
The curve depicted by above equation is shown in Fig. 26.5 and is known as simple expo-
nential time delay curve.
Fig. 26.5
The output θo will be within 1 percent of its final value when θ0 = 0.99(π / 2). Substituting
this value in equation (iii), we get
π π
(
0.99 = 1 − e −2t
2 2
)
0.99 = 1 − e −2t or e −2t = 0.01
∴ 2 t = loge 100 = 4.6 or t = 2.3s Ans.
1058 l Theory of Machines
26.9. Transfer Function of a Hartnell Go
artnell ver
Gov nor
ernor
Consider a Hartnell governor* as shown in Fig. 26.6 (a). The various forces acting on the
governor are shown in Fig. 26.6 (b).
Let m = Mass of the ball
M = mass of the sleeve,
r = Radius of rotation of the governor in mid position,
∆r = Change in radius of rotation,
ω = Angular speed of rotation in mid position,
∆ω = Change in angular speed of rotation,
x
= m r + ( h′) (ω + ∆ω)
2
y
x d 2 h′
2. Inertia force of the balls, Fim = m
y dt 2
d 2 h′
3. Inertia force of the sleeve mass, FiM = M 2
dt
dx
4. Damping force, Fd = c
dt
5. Spring force, Fs = s(h + h′)
It is assumed that the load on the sleeve, weight of the balls and the friction force are negligible
as compared to the inertia forces. Now, taking moments about the fulcrum O, considering only one
half of the governor,
x x d 2 h′ 1 d 2 h′
m r + h′ (ω + ∆ω)2 x = m × 2 x+ ×M 2 y
y y dt 2
dt
1 dh′ 1
+ ×c y + × s( h + h′) y
2 dt 2
Neglecting the product of small terms, we get
x
mr ω2 x + m × × h′ω2 x + 2mr ω(∆ω) x
y
mx 2 d 2 h′ 1 d 2 h′ 1 dh′ 1
= y 2 2 + × M y 2 + ×c y + × s y (h + h′)
dt 2
dt dt 2
...(i)
Also, we know that at equilibrium position,
1
mr ω2 x =
×s h y
2
Now the equation (i) may be written as
1 x mx 2 2 1 1
× s h y + m × × h′ω2 x + 2mr ω(∆ω) x = ( D h′) + My ( D2 h′) + c y ( Dh′)
2 y y 2 2
1
+ sy ( h + h′) ... (∵ d / dt = D)
2
1060 l Theory of Machines
mx 2 1 1 1 mx 2
or + My D2 h′ + × cy Dh′ + sy − × D2 h′ = 2mr ω(∆ω) x
y 2 2
2 y
Multiplying the above equation throughout by 2y, we get
(2mx 2 + My 2 ) D 2 h′ + (c y 2 )dh′ + (sy 2 − 2mx 2 ω2 )h′ = 4mr ω (∆ω) x y
cy 2 sy 2 − 2mx2 ω2
(2mx2 + My 2 ) D2 + + h′ = 4m r ω (∆ω) xy
2mx 2 + My 2 2mx 2 + My 2
2 cy 2 sy 2 − 2mx 2 ω2 4mr ω (∆ω) xy
or D + ×D+ h′ =
2mx + My
2 2
2mx + My
2 2
2mx 2 + My 2
4mr ω (∆ω) xy
or D2 + 2ξωn D + (ωn2 )h′ =
2mx2 + My2
4mr ω(∆ω) xy 1
∴ h′ = ×
2mx + My
2 2
D + 2ξωn D + (ωn ) 2
2
cy 2
where 2 ξ ωn =
2mx + My 2
2
sy 2 − 2 mx 2 ω2
ωn = Natural frequency =
2 mx 2 + My 2
Thus, transfer function for the Hartnell governor,
Output signal Displacement of sleeve ( h′)
= =
Input signal Change in speed (∆ω)
4m r ω xy 1
= ×
2mx + My
2 2
D + 2 ξωn D + (ωn ) 2
2
= F1 ( D ) × F2 ( D ) × F3 ( D ) = KG (D )
The simplified block diagram of open loop transfer function is shown in Fig. 26.8.
EXERCISES
1. Define the following terms:
(a) Response (b) Process control
(c) Regulator (d) Transducer
2. What do you understand by open-loop and closed loop control system? Explain with an example.
3. Discuss the importance of block diagrams in control systems.
1062 l Theory of Machines
4. Draw the block diagrams for the following control systems:
(a) A simple carburettor,
(b) A thermostatically controlled electric furnace.
5. What is a transfer function ?
1
(c) F1( D ) × F2 ( D) × F3 ( D) (d) F ( D ) × F ( D ) × F ( D)
1 2 3
where F1 (D), F2 (D) and F3 (D) are the individual transfer functions of the three blocks.
5. The transfer function for a closed-loop control system is
K G ( D)
(a) 1 + K G ( D ) (b) K G( D)[1 + KG( D)]
1 + K G ( D) K G ( D)
(c) KG ( D ) (d) 1 − K G (D )
ANSWERS
1. (b) 2. (c) 3. (b) 4. (c) 5. (a)
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