Autotronics and Vehicle Intelligence

(AEng6205)
Presentation
on
Seminar on control systems engineering,
Presented by: Abubakar Muzayin Ali
ID.No: pgr/27921/15

Submitted to: Dr.Alemayhu Wakjira (P.H.D)

Department of Mechanical Engineering
SoMCME
Adama Science and Technology University

24, Februry 2022

Adama, Ethiopia
1. Fundamentals/elements of control
system/introduction
There are four basic elements of a typical motion control
system. These are;
 The controller,
 Amplifier,
 Actuator, and
 Feedback.
 Thecomplexity of each of these elements will vary
depending on the types of application for which they are
designed and built.
1.1. The controller section
This controller section of the AC drive will
process information received from the inputs of
the drive and also from the feedback signals
that will usually be a representation of the
position or speed of the actuator.
The controller will then issue commands to the
amplifier section based on this information.
 1.2. The amplifier section
The amplifier section of the drive receives the
commands from the control section. The amplifier then
generates the power signal necessary for the actuator
to drive the load with the correct speed and direction.
The amplifier section of the AC drive is usually able to
be further broken down into three sections of its own.
 The rectifier circuit,
DC circuit, and
Inverter circuit.
 Mostof the Rectifiers are essential circuits for power supplies
that convert an AC input voltage into a DC voltage supply
that can be used to power electronic circuits.
 TheDC circuit will contain both current and voltage filter
components including a choke and parallel bus capacitors and
may have some type of regenerative discharge circuitry.
 The inverter section of the AC drive will typically be
comprised of insulated gate bipolar transistors or IGBTs. The
switching control for the inverter circuit is provided by the
control section of the AC drive. Using the switching control,
the DC voltage supplied by the DC circuit, is changed in the
inverter circuit to a pulse width modulated output that feeds
the actuator of the motion control system.
 1.3 The actuator portion
 The actuator portion of the system will most often be an
induction AC motor or permanent magnet AC motor with
windings and insulation that are specially designed to handle
the heat and stress generated by a pulse width modulated
output.
 1.4 The feedback element


1.4 The feedback element of the motion

control system may be handled by the
system in a number of ways depending on
the information needed.
Feedback is that which differentiates open
loop and closed loop systems.
2.1 Mathematical models of systems:
 The control systems can be represented with a set of mathematical equations
known as mathematical model.
 These models are useful for simulation, prediction/forecasting,
design/performance evaluation, and analysis and design of control systems.
 It also describe the relationships among system inputs, outputs and other inner
variables.
 Analysis of control system means finding the output when we know the input and
mathematical model.
 Design of control system means finding the mathematical model when we know the
input and the output.
 Mathematical models may assume many different forms. Depending on the
particular system and the particular circumstances, one mathematical model may
be better suited than other models.
 2.1 Laplace transformation
 A technique for solving differential equations.
 Differential equation of time domain form is first transformed to algebraic equation of frequency
domain form.
 After solving the algebraic equation in frequency domain, the result then is finally transformed to
time domain form to achieve the ultimate solution of the differential equation.
 In other words it can be said that the Laplace transformation is nothing but a shortcut method of
solving differential equation.
 They also provide a method to form a transfer function for an input-output system
 They provide the basic building blocks for control engineering, using block diagrams, etc.
 The Laplace transforms is usually used to simplify a differential equation into a simple and
solvable algebra problem.
 Even when the algebra becomes a little complex, it is still easier to solve than solving a
differential equation.
 2.2 Transfer Function Model
 Transfer function model is an s-domain mathematical model
of control systems. The Transfer function of a Linear Time
Invariant (LTI) system is defined as the ratio of Laplace
transform of output and Laplace transform of input by
assuming all the initial conditions are zero.
 If x(t) and y(t)
are the input and output of an LTI system,
then the corresponding Laplace transforms are X(s) and Y(s).
 Therefore, the transfer function of LTI system is equal to
the ratio of Y(s) and X(s).
  i.e., transfer Function=Y(s) /X(s)
The transfer function model of an LTI
system is shown in the following figure.
Here, we represented an LTI system with a block
having transfer function inside it. And this block has an
input X(s) & output Y(s)
 2.3 Block diagram manipulation
Block diagrams are a graphical representation of the
system model. The blocks represent physical or
functional components of the system.
A block diagram is a means of modeling a system by
breaking it down into subsystems each represented
by a block.  The overall response of the system is
determined from a knowledge of the transfer
functions of the blocks.
 2.4 OPEN LOOP SYSTEM

 Any physical system which does not automatically correct the

variation in its output, is called an open loop system, or
control system in which the output quantity has no effect
upon the input quantity are called open-loop control system.
This means that the output is not feedback to the input for
correction.
 In open loop system the output can be varied by varying the
input.
 An open-loop control is applied to achieve desired system
response using a controller or an actuator without feedback.
An open-loop control simple diagram
with input and output
2.5 CLOSED LOOP SYSTEM

 2.5 CLOSED LOOP SYSTEM

 Control systems in which the output has an effect upon the input
quantity in order to maintain the desired output value are called
closed loop systems. 
 The open loop system can be modified as closed loop system by
providing a feedback.
 The provision of feedback automatically corrects the changes in
output due to disturbances.
 Closed loop system is also called automatic control system. It
consists of an error detector, a controller, plant (open loop system)
and feedback path elements.
The general block diagram of an automatic control system is shown in image
 
 3 Time Domain Analysis:
 The analysis of a control system is done in a way to
determine the variation in output with respect to the input.
Basically the response of any control system can be analyzed
in frequency as well as time domain.
 So,
the analysis of a system that involves defining input,
output and other variables of the system as a function of
time is known as time-domain analysis.
 Time Response of Control System
 Itis also known as the time response of the control system.
This is so because the response is defined as the output
provided by the system when certain excitation is given to it.
Thus time response of the control system provides the idea
about the variation in the output of the system with respect
to time.
 Control systems are considered a dynamic system and time is
considered as an independent variable in most of the systems.
Thus analyzing the response of the system as a function of
time is quite necessary.
4 Modelling in frequency domain (frequency domain
analysis) – classical control
In engineering, frequency domain is a term used to
describe the analysis of mathematical functions or
signals with respect to frequency, rather than time.
The most common purpose for analysis of signals in the
frequency domain is the analysis of signal properties.
5 Design of classical control
 The Laplace transform of the input and output signal of such systems
can be calculated.
 The transfer function relates the Laplace transform of the input and the
output.
 . A closed-loop controller uses feedback to control states or outputs of a 
dynamical system.
 The system can be modeled in the "time domain", where the response of
a given system is a function of the various inputs, the previous system
values, and time.
6. Introduction to Modern control, PID, fuzzy PID,
Sliding Mode PID,

 Modern control, instead of changing domains to avoid the

complexities of time-domain
 converts the differential equations into a system of lower-
order time domain equations called state equations, which
can then be manipulated using techniques from linear algebra
6.1 PID controller

A proportional–integral–derivative controller (PID
controller or three-term controller) is a control
loop mechanism employing feedback 
6.2 Fuzzy PID Control
PID controllers are widely used in industrial
manipulators due to their simple structure
compared to other control algorithms. In industrial
operations each joint of the robotic arm are
independently controlled by PID algorithms.
6.3 SLIDING MODE CONTROL
 6.3 SLIDING MODE CONTROL
 TheSliding Mode Controller approach is a discontinuous
nonlinear controller, also called the variable structure
control, is a typical robust control scheme.
 END
 THANKS