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1、The Principles of Control Engineering (控制工程基础),School of Automation Nanjing University of Science & Technology,Chuan Zhou Email: njust_ Tel: 025-84315463-669,References (参考教材）,Richard C.Dorf and Robert H.Bishop. Modern Control Systems. 10th edition, Science Press. Gene Franklin, J.D.Powell and Abbas
2、. Emami-Naeini. Feedback Control of Dynamic Systems .5th edition Prentice Hall. G C.Goodwin and S F.Graebe. Control System Design. Tsinghua University Press. 胡寿松.自动控制原理（第5版）.北京：科学出版社，2007.,Significance,Control engineering is an exciting and challenging field. It is a multidisciplinary subject, and a
3、 core course in the engineering curriculum. It is widely applied to the field of industry and agriculture, even to the sociological, biological, ecological and economic systems. It is especially used in high-technology areas such as spacecraft control system.,Bilingual Course （双语课程）,Language: Both E
4、nglish and Chinese Emphasis: Content, i.e. basic concept and basic principles of automatic control Grasp or enrich major terminology Improve the ability to read speciality references or materials Enhance the communication ability on academic problem,The Excitement of Control Engineering,increased pr
5、oductivity improved performance or product quality waste and emission minimization environmental protection higher safety,Control Engineering is present in virtually all modern engineering systems Control is a key technology with respect to:,Ch1 Introduction to Control System,Basic Concept of Contro
6、l System History and Development of Automatic Control The Mechanism of Feedback Control Examples of Modern Control System,1.1 Basic Concept of Control System,A Control System is an interconnection of components forming a system configuration that will provide a desired system response. The basis for
7、 system analysis and design is linear system theory. (Classical Control theory will be emphasized in this course) Control system has two basic structure:,Open-loop system Closed-loop system,An open-loop Control System utilizes an actuating device to control the process directly without using feedbac
8、k.,An open-loop control system,A closed-loop control system uses a measurement of the output and feedback of this signal to compare it with the desired output. ( The desired output reference or command input).,A closed-loop control system,A closed-loop control system usually consists of the followin
9、g elements:,Plant or Process to be controlled Objectives or Performance Actuator Sensors Communications Controllers /Algorithms,Control is a multidisciplinary subject,Control design aims to achieve a desired level of performance in the face of disturbances and uncertainty.,Plant or Process,Process o
10、r plant to be controlled can be represented by cause-effect relationship. (modeling problem) Thus a control engineer needs to be familiar with the “physics“ of the process under study. That includes a rudimentary knowledge of the basic energy balance, mass balance and material flows in the system.,M
11、anipulators,Objectives / performance,Before designing sensors, actuators or control architectures, it is important to know the goal, that is, to formulate the control objectives. This includes:,what does one want to achieve (energy reduction, yield increase,.) what variables need to be controlled to
12、 achieve these objectives what level of performance is necessary ( stability , accuracy, speed, .),Sensors,Sensors are the eyes of feedback control enabling one to see what is going on. Indeed, that means : If you want to control it, you need to measure it.,Actuators,Once sensors are in place to rep
13、ort the state of a process, then the next issue is the ability to affect, or actuate, the system in order to move the process from the current state to a desired state.,AC Motor,Communications,Interconnecting sensors to actuators, involves the use of communication systems. A typical plant can have m
14、any thousands of separate signals to be sent over long distances. Thus the design of communication systems and their associated protocols is an important aspect of modern control engineering. For example, Networked control systems (NCS) is a hot topic nowadays.,Controllers / Algorithms,Finally, we c
15、ome to the real heart of control engineering i.e. the controllers or algorithms that connect the sensors to the actuators. It is easy to understand the importance and effect of controllers. As a simple example from our daily experience, consider the problem of playing tennis at top international lev
16、el. One can readily accept that one needs good eye sight (sensors) and strong muscles (actuators) to play tennis, but these attributes are not sufficient. Indeed eye-hand coordination (i.e. control) is also crucial to success.,Better Control Provides high performance by combining sensors and actuato
17、rs in more intelligent ways,Better Actuators Provide more Energy,Better Sensors Provide better Vision,Illustrations of Control,1.2 History and Development of Automatic Control,fascinating history date back to 300 B.C, such as water level regulation mechanism and water clock.,James Watts flyball gove
18、rnor in1769,J.C. Maxwell formulates a mathematical model for a governor control,Henry Ford s assembly line for automobile production in 1913,H.S. Black & H.W.Bode analyzes feedback amplifiers at Bell Telephone Lab in 1927.,Auto-pilots, gun-positioning system, radar antenna control system and other m
19、ilitary systems in World War II.,State-variable models and optimal control developed in 1960s-1970s (space age),Robust control widely studied in 1980s Intelligent control becomes hot topic nowadays.,Cybernetics (1948) Classic control Modern control Large-scale system control Robust and Intelligent c
20、ontrol,Development of Control Theory,1.3 The Mechanism of Feedback Control,Feedback is the foundation for closed-loop control system analysis and design. Feedback control system is to control the process by using the difference between the output and reference input.,Negative feedback Positive feedb
21、ack,Definition from N.Wiener “Feedback is a method of controlling a system by inserting into it the result of its past performance”,Manual Control System,Automobile steering control system,Time t,Response Direction of travel,Start point,Destination,Automobile steering control system,The driver uses
22、the difference/error between the actual and the desired direction of travel to generate a controlled adjustment of the steering wheel.,-,+,1.4 Examples of Modern Control System,Speed control system Auto-pilot system of aircraft Gun-positioning serve system Process control system Robot control system
23、s,. . .,Example-1,Gun-positioning servo-system,Robot Control System,Example-2,Sojourner: a robot for space exploration,Sony robot for dancing,Example-3,Example-4,Terminologies & Concepts,Automation Closed-loop control system Negative / Positive feedback Analysis & Synthesis Performance specifications Trade-off,Assignment,Review Chapter 1 (Page1-28) P1.2 P1.11,