Introduction to Control Engineering - Lec 1

It gives an introduction to the control systems.

1. Instrumentation and Control Dr Sameh Eid Lecture 1

2. Ground Rules Arrive on time. Listen actively and attentively. Engage effectively and participate in all discussions. Ask questions if you are confused. Try not to distract or annoy your classmates. Avoid put-downs (even humorous ones).

3. Lecture’s Outline Course Outline. Reference Book. Prerequisites of the subject Introduction to control engineering and systems.

4. Module’s Team Sameh Eid (Module Leader) Lamia Hassan (Assistant) Responsible for Tutorials and Control Labs Arsany Youssef (Assistant) Responsible for Instr.’s Labs.

5. Module’s Aims This module aims to Give the student the necessary knowledge and skills to enable them to: design, characterize, select appropriate instrumentation and measurement systems, measure and analyse measured data associated with the performance of electro-mechanical systems, simulate measurement systems using software tools. Introduce students to typical engineering control systems integrating measurement systems. learn the analytical tools to determine control systems design, operational characteristics, and simulate control systems using software tools.

6. Module ILOs On completion of the module the student should be able to demonstrate: Develop and apply knowledge and understanding of scientific principles and methodology necessary to underpin their education in mechanical and related engineering disciplines, to enable appreciation of its scientific and engineering context and to support their understanding of future developments and technologies. Demonstrate an understanding of and ability to apply a systems approach to engineering problems. Apply knowledge of characteristics of particular equipment and processes. Appraise technical literature and other information sources. Demonstrate engineering workshop and laboratory skills.

7. Module details (Grading / Assessment) Module size: 20 credit hours. Lecture 4 hrs /week. Flipped learning. Tutorial 2 hrs /week. Solving control and instrumentation problems. Lab 2 hrs /week. Conducting experiments and preparing for the practical project. Component Cr. Learning Outcomes Assessed Assessment details CW 1 5 1, 2, 3, 4, 5 Instrumentation system design, simulation and application Report. (750 words) CW 2 5 1, 2, 3, 4 Control systems design, simulation and application Report. (750 words) Exam 10 1, 2, 3 Time Constrained Exam Assessments’ scheme

8. Instrumentation and Control Assessments timeline 2023/2024 1 2 3 4 5 6 7 8 9 10 11 12 13 Weeks 3 4 3 5 6 7 8 4 3 Control Lab 1 In-lab Submission 5 % Instr. lab 1 In-Lab Submission 10% Instr. Lab 2 In-Lab Submission 10% Instr. lab 3, 4 In-Lab Submission 20% Instr. Lab 5 In-Lab Submission 10% Control Lab 2 In-lab Submission 5 % Control Lab 3 In-lab Submission 5 % Control Lab 4 In-lab Submission 5 % Instr. Project Submission 50% Control Project Submission 80% CW1: Instrumentation Cw2:Control

9. Characteristics of measurement instruments . Sensor signal processing. Measurement techniques in engineering for: Error and uncertainty in measurement, and calibration of measurement systems. Measurement system simulation using computer software e.g. MATLAB/SIMULINK . Module indicative Content ( Instrumentation ) Strain, force and torque Displacement, velocity and acceleration Temperature Static Dynamics Signal conditioning Amplification

10. Module indicative Content (Control) Mathematical modelling of systems : Analysis of systems: time response, first, second and higher order systems and steady-state errors, frequency response considerations and system stability using Nyquist and Routh-Hurwitz criterion. Differential equation representation, Laplace transforms, Transfer functions, Block diagram algebra, Open and closed-loop control systems. State-space. Design of systems: S ystems simulation using computer software e.g. MATLAB/SIMULINK. Design specification, Root locus, Three term PID control, State-space pole placements and design examples.

11. Reference Books Nise , N. S. (2015). Control Systems Engineering (7th ed.). Wiley. Bolton, W. (2021). Instrumentation and Control Systems (3rd ed.). Elsevier.

12. Reference Books Dorf, R.C., & Bishop, R.H.(2021). Modern Control Systems(14th ed.). Pearson. Bolton, W. (2015). Mechatronics: Electronic Control Systems in Mechanical and Electrical Engineering (6th ed.). Pearson.

13. Ensure you have access to module Moodle page. (all assessments on Moodle!) Install MATLAB on your PC/laptop. (do not leave it till the end of term) Engage in the sessions and do all required formative tasks. (weekly sessions) Ask questions and try to enjoy the module. Tips to get most of the module and pass: Attend all lectures, tutorials and labs. Do “Exercises” given at each lecture and tutorial. Read the textbook and the slides. Make use of instructor’s office hours.

14. Prerequisites For Classical Control Theory Differential Equations. Laplace Transform. Basic Physics. Ordinary and Semi-logarithmic graph papers. For Modern Control theory & above Linear Algebra. Matrices.

15. Teaching and Learning Learning will be facilitated through a variety of methods which may include: lectures, tutorial, lab, online activities and group work. Students are expected to engage in both: class and online activities and discussions. This module also requires students to participate in additional guided reading and self-directed study to reinforce the learning gained from timetabled sessions. Formative assessment will be used to prepare students for summative assessment and give students an early indication of their progress towards the modules intended learning outcomes.

16. TKH Labs/Lab Equipment/Lab Machines/Workshops: Due to COVID-19 , each student is required to bring their own PPE (Personal Protective Equipment) needed inside TKH Labs/workshops for the equipment/machines/activities that will be included during the session as instructed by your academic staff members. Students who will not wear PPE will not be allowed inside TKH Labs/Workshops by academic staff out of concern on their safety. Students must comply with TKH’s Students Safety Rules that must be followed in any of TKH labs/workshops. All rules are uploaded on Moodle.

17. Lecture’s objectives After completing this lecture, each student will be able to: Give illustrative examples of control systems and describe their relationship to key contemporary issues. Recognize the elements of control system design and possess an appreciation of appreciate controls in the context of engineering design. Understand Laplace Transform.

18. Introduction What are the goals of these approaches? To design products that: Minimize pollution, reduce the risk to human health, and improve the living environment. One outcome of the evolving design strategy is … to consider green engineering and human-centered design. minimizing raw material emissions reduction waste management pandemics sustainability clean water climate change minimizing energy use Global issues have led many engineers to re-think existing approaches to engineering design . Applying green engineering and human-centered design highlights the power of feedback control systems as an enabling technology.

19. Modern Development of Control Systems Smart Grid Internet of things Autonomous Vehicles Collaborative robots Mechatronics Systems

20. Automation Automation is used to describe the automatic operation or control of a process. There is an ever-increasing use of automation in: Modern manufacturing. (automatically operating machinery, production line with robots. Appliances around the home and in the office. Automation involves carrying out operations in the required sequence and controlling outputs to required values.

21. Benefits of Automation The benefits of control systems include: Greater consistency of product, Reduced operating costs due to improved utilisation of plant and materials. A reduction in manpower, Greater safety for operating personnel.

22. What Control System Can Do …? Control a variable to obtain the required value. The room temperature is controlled by setting the thermostat of a central heating system to the required temperature. The liquid level in bottles is controlled to ensure that it matches the required level. Checks the weight of biscuits on a conveyor belt and rejects those that are below the minimum weight limit. Control the sequence of events. The dials on an automatic washing machine. Control whether an event occurs or not. The automatic clothes washing machine has a safety lock on the door so that the machine will not operate if the door is open.

23. What is “Control”? Make some object (called system , or plant ) behave as we desire. Imagine “control” around you! Room temperature control. Car/bicycle driving. Voice volume control. “Control” (move) the position of the pointer. Cruise control or speed control. Process control, etc. A control system consists of subsystems and processes (or plants) assembled for the purpose of obtaining a desired output with desired performance , given a specified input .

24. Example of Control System: Elevator Two major measures of performance are apparent: the transient response and the steady-state error.

25. Example of Control System: Elevator Passenger comfort and passenger patience are dependent upon the transient response. If this response is too fast, passenger comfort is sacrificed; if too slow, passenger patience is sacrificed. Passenger safety and convenience are dependent upon the steady-state error. It would be sacrificed if the elevator did not level properly.

26. Advantages of Control Systems Power amplification. Remote control. Convenience of input form. Compensation for disturbances.

27. Engineers and Control What is engineers’ role? Engineers create products that help people. Our quality of life is sustained and enhanced through engineering. What is engineers’ mission? Engineers strive to … understand , model , and control the materials and forces of nature for the benefit of humankind. What are control engineers concerned with? Understanding and controlling segments of their environment, often called SYSTEMS . They are interconnections of elements and devices for a desired purpose

28. Control Systems and Engineering Direct brain-to-computer system Control engineering deals with the design (and implementation) of control systems using linear, time-invariant mathematical models representing actual physical nonlinear, time-varying systems with parameter uncertainties in the presence of external disturbances. Control Engineering objective Automobile Cruise Control System

29. Control Systems and Engineering … Continued The applications of control systems have grown in number and complexity. Guess Why? Embedded computer systems have become less expensive, require less power and space, while growing more computationally powerful, At the same time, sensors and actuators have simultaneously experienced the same evolution to more capability in smaller packages.

30. Few Major elements in Control system What is a Sensor? A sensor is a device that provides a measurement of a desired external signal. For example , resistance temperature detectors (RTDs) are sensors used to measure temperature. What is an Actuator? An actuator is a device employed by the control system to alter or adjust the environment. It is an example of a device transforming electric energy to mechanical torque.

31. Control System - Main Configuration Process The input–output relationship represents the cause-and-effect relationship of the process, which in turn represents a processing of the input signal to provide a desired output signal. Input Output Types of control systems Open loop control system Closed loop control system

32. Open Loop Control System An open-loop control system utilizes an actuating device to control the process directly without using feedback. Process Input Output Actuator Controller It use a controller and an actuator to obtain the desired response. Example: Rotating disk speed control

33. A toaster toasts bread, by setting timer. Objective: make bread golden browned and crisp. A toaster does not measure the color of bread during the toasting process. For a fixed setting , in winter, the toast can be white and in summer, the toast can be black (Calibration!) A toaster would be more expensive with sensors to measure the color and actuators to adjust the timer based on the measured color. Open Loop Example: Toaster Process Input Output

34. A laundry machine washes clothes, by setting a program. A laundry machine does not measure how clean the clothes become. Control without measuring devices (sensors) are called open-loop control . Open Loop Example: Laundry Machine Program Setting Washed Clothes

35. Since in open loop control systems reference input is not compared with measured output, for each reference input there is fixed operating condition . Therefore, the accuracy of the system depends on calibration. The performance of open loop system is severely affected by: the presence of disturbances, or variation in operating/ environmental conditions. Open Loop Systems (Take away)

36. Open Loop Control System

37. Closed Loop Control System

38. Closed Loop Control System It utilizes an additional measure of the actual output to compare the actual output with the desired output response. The measure of the output is called the feedback signal . Process Input Actual Output Actuator Controller Example: Rotating disk speed control Sensor (Desired output response) Feedback Measurement Output Error Tachometer  

39. Closed Loop Example: Automobile direction control Attempts to change the direction of the automobile. Automobile Desired Direction Actual direction Hand Brain Eye Error Steering Wheel Angle Manual closed-loop ( feedback ) control.

40. Closed Loop Control System… Continued Can you find out, what is new in the above closed loop system? External disturbances and measurement noise are inevitable in real-world applications and must be addressed in practical control system designs. A closed-loop control has many advantages over open-loop control , including the ability to reject external disturbances and improve measurement noise attenuation.

41. Closed Loop Example: Automobile Cruise control Attempts to maintain the speed of the automobile. Automobile Desired speed Actual speed Actuator controller sensor Error Acceleration Disturbance Cruise control can be both manual and automatic.

42. Basic elements in feedback control systems Plant Reference Output Actuator controller sensor Error Disturbance The Goal of Control System Design T o obtain the configuration, specifications, and identification of the key parameters of a proposed system to meet an actual need.

43. Systematic Controller Design Process Plant Reference Output Actuator controller sensor Error Disturbance Mathematical Modelling Controller Modelling Analysis Design Implementation Further reading in the textbook; Ch1, Section 1.5

44. Control Terminologies Controller Output Or Controlled Variable Input or Set point or reference Process Manipulated Variable Controlled Variable – It is the quantity or condition that is measured and Controlled. Normally controlled variable is the output of the control system. Manipulated Variable – It is the quantity of the condition that is varied by the controller so as to affect the value of controlled variable . Control – Control means measuring the value of controlled variable of the system and applying the manipulated variable to the system to correct or limit the deviation of the measured value from a desired value.

45. What is a Servo System?? A Servo System (or servomechanism) is a feedback control system in which the output is some mechanical position, velocity or acceleration. Antenna Positioning System

46. Classification of Control Systems Linear Vs Nonlinear Control System Time invariant vs Time variant Continuous Data Vs Discrete Data System Deterministic Vs Stochastic Control System

47. Classification of Control Systems Linear Vs Nonlinear Control System A Control System in which output varies linearly with the input is called a linear control system . y(t) u(t) Process

48. Classification of Control Systems Linear Vs Nonlinear Control System When the input and output has nonlinear relationship the system is said to be nonlinear .

49. Classification of Control Systems Time invariant vs Time variant When the characteristics of the system do not depend upon time itself then the system is said to time invariant control system. Time varying control system is a system in which one or more parameters vary with time .

50. Classification of Control Systems Continuous Data Vs Discrete Data System In continuous data control system , all system variables are function of a continuous time t. x (t) t X[n] n A discrete time control system involves one or more variables that are known only at discrete time intervals.

51. Classification of Control Systems Deterministic vs Stochastic Control System A control System is deterministic if the response to input is predictable and repeatable . y (t) t x (t) t z (t) t If not, the control system is a stochastic control system.

52. Classification of Control Systems Control Systems Natural Man-made Manual Automatic Open-loop Closed-loop Non-linear linear Time variant Time invariant Non-linear linear Time variant Time invariant

53. Further Guided Reading 1. 53 Chapter ONE Section 1.1. Section 1.3. Section 1.4. Nise , N. S. (2015). Control Systems Engineering (7th ed.). Wiley.

54. Further Guided Reading 1. 54 Chapter Four Section 4.1. Section 4.2. Section 4.3. Bolton, W. (2021). Instrumentation and Control Systems (3rd ed.). Elsevier.

55. Rapidly Changing Control Engineering Internet of Things (IoT) (think about more efficient energy use in homes and businesses) Manufacturing (think 3D printing) Transportation (think about automated cars!) Consumer products Energy Medical devices and healthcare What is a challenge for control engineers today? It is to be able to create simple, yet reliable and accurate mathematical models of many of our modern, complex, interrelated, and interconnected systems.