## Transcription

Mechatronics, David Goodwin, Control systems, 1 Control systems. Open loop control, Closed loop control Open loop control. Example Closed loop control, System Responses, PID controller. Step Response, Matlab Octave 2 System Responses, PID controller. Step Response, 3 Matlab Octave, 4 Resources, Department of.

Computer Science and, Technology, University of, Bedfordshire 31. Mechatronics, David Goodwin, Control systems 3, Open loop control. Closed loop control, System Responses, PID controller. Control systems, Step Response, Matlab Octave, Department of. Computer Science and, Technology, University of, Bedfordshire 31.

Control system principles, Block Diagrams, Mechatronics. Electronic systems and circuits are often represented by block. David Goodwin, Control systems 4, Shorthand pictorial representation of the cause and effect. Open loop control, Closed loop control relationship between the input and output in a real system. Characterise functional relationships between components. System Responses, PID controller, Not necessary to understand the functional details of a block. Step Response to manipulate a block diagram, Matlab Octave.

Disturbances, Controller System, Department of, Computer Science and. Technology, Measurements, University of, Bedfordshire 31. Block Digram Basics, Transfer function, Mechatronics. David Goodwin, Control systems 5 The basic building block of a control system block diagram. Open loop control, Closed loop control The transfer function block represents a portion of the system.

Example plant sensor controller or pre filter, System Responses Y s. PID controller G s, Step Response, G s must be a Linear Time Invariant System output does. Matlab Octave, not depend explicitly on time, G s is property of the system independent of the input to. that system, Department of, Computer Science and, Technology. University of, Bedfordshire 31, Block Digram Basics.

Summing junction, Mechatronics, David Goodwin, Control systems 6. Open loop control, A summing junction is represented by a circle. Closed loop control The input signals are signed can be or and the sign with. which they are added to the output is displayed on the signal. System Responses, PID controller, line leading to the junction. Step Response C A B, Matlab Octave A is a signed input B is a signed input and C is the output. Department of, Computer Science and, Technology, University of.

Bedfordshire 31, Block Digram Basics, Cascade blocks. Mechatronics, David Goodwin, Control systems 7, Open loop control. Closed loop control, Example The 2 blocks in series also known as cascade blocks can be. System Responses combined multiplication into a single block as long as there. PID controller is nothing between them, Step Response. The way these two blocks were combined is only valid for. Matlab Octave, SISO single input single output systems.

Department of, Computer Science and, Technology, University of. Bedfordshire 31, Block Digram Basics, Parallel blocks. Mechatronics, David Goodwin, Control systems 8, Open loop control. Closed loop control, Example The 2 blocks in parallel can be combined added into a. System Responses, single block as long as there is nothing between them.

PID controller, Step Response, Matlab Octave, Department of. Computer Science and, Technology, University of, Bedfordshire 31. Open loop control, Mechatronics, David Goodwin, Control systems. Open loop control 9, Closed loop control, System Responses. PID controller, Step Response, Matlab Octave Controller Plant.

Department of, Computer Science and, Technology, University of. Bedfordshire 31, Open loop control, Mechatronics, David Goodwin. Control systems K G, Open loop control 10, Closed loop control. System Responses Then the resulting Loop Transfer Function can be found by. PID controller, inspection, Step Response, Matlab Octave Open loop transfer function GK. The Open Loop Transfer Function is GK which appears to be. backwards given that the blocks appeared as KG when the. system is read left to right, For SISO systems the order is arbitrary However for MIMO.

systems this backwards order must be maintained, This is because the system is represented with matrices and. Department of, Computer Science and, in Linear Algebra matrix math the order of execution is vital. Technology, University of, there is no Commutative property for matrix multiplication. Bedfordshire 31, Closed loop control, Mechatronics. David Goodwin, Control systems, Open loop control, Closed loop control 11.

Disturbances, System Responses, PID controller, r e u ud y. Step Response, Controller Plant, Matlab Octave, Department of. Computer Science and, Technology, University of, Bedfordshire 31. Closed loop control, Mechatronics, David Goodwin, Control systems. Open loop control Disturbances, Closed loop control 12.

Example r e u ud y, System Responses K G, PID controller. Step Response, Matlab Octave, The Closed Loop Transfer Function is. y GKe GK r ym, where ym Hy, Department of, Computer Science and. Technology, University of, Bedfordshire 31, Closed loop control. Mechatronics, David Goodwin Disturbances, Control systems.

r e u ud y, Open loop control, Closed loop control. System Responses ym, PID controller, Step Response. Matlab Octave H, y GKHy GKr, Department of, 1 GKH y GKr. Computer Science and, Technology y GK, University of Closed loop Tansfer Function. Bedfordshire 31, Closed loop control, Mechatronics.

David Goodwin, Control systems, Open loop control, Closed loop control 14. Example y GK, System Responses Closed loop Tansfer Function. PID controller, Step Response, Matlab Octave The numerator is the forward open loop gain from r to y. The denominator is one plus the gain in going around the. feedback loop the so called loop gain, If GK 1 and if H 1 then y is approximately equal to. r and the output closely tracks the reference input. Department of, Computer Science and, Technology, University of.

Bedfordshire 31, An example of Closed loop systems control. Disk drive read system, Mechatronics, David Goodwin. Control systems, Open loop control, Closed loop control. Example 15, System Responses, PID controller, Step Response. Matlab Octave, Department of, Computer Science and.

Mechatronics David Goodwin Control systems 5 Open loop control Closed loop control Example System Responses PID controller Step Response Matlab amp Octave Resources Department of Computer Science and Technology University of Bedfordshire Block Digram Basics Transfer function The basic building block of a control system block diagram