ME451 S07ME451: Control SystemsME451: Control SystemsJongeunJongeunChoiChoi, Ph.D., Ph.D.Assistant ProfessorAssistant ProfessorDepartment of Mechanical Engineering, Michigan State UniversityDepartment of Mechanical Engineering, Michigan State Universityhttp://www.egr.msu.edu/classes/me451/jchoi/http://www.egr.msu.edu/classes/me451/jchoi/http://http://www.egr.msu.eduwww.egr.msu.edu/jchoi/[email protected]@egr.msu.eduME451 S072Course Information (Syllabus)Course Information (Syllabus) Lecture: 2205 EB, Sections: 5, 6, 7, 8, MWF 12:40-1:30pm Class website: http://www.egr.msu.edu/classes/me451/jchoi/ Laboratory website: http://www.egr.msu.edu/classes/me451/radcliff/lab Class Instructor: Jongeun Choi, Assisntant Professor, 2459 EB, Email: [email protected] Office Hours of Dr. Choi: 2459 EB, MW 01:40-2:30pm, Extra hours by appointment only (via email) Laboratory Instructor: Professor C. J. Radcliffe, 2445 EB, Phone: (517)-355-5198 Required Text: Feedback Control Systems, C. L. Phillips and R. D. Harbor, Prentice Hall, 4th edition, 2000, ISBN 0-13-949090-6 Grading: Homework (15%), Exam 1 (15%), Exam 2 (15%), Final Exam(comprehensive) (30%), Laboratory work (25%) Note Homework will be done in one week from the day it is assigned. 100% laboratory attendance and 75% marks in the laboratory reports will be required to pass the course. Laboratory groups for all sections will be posted on the door of 1532 EB.ME451 S07ME451 S073About Your InstructorAbout Your InstructorPh.D. (Ph.D. (‘‘06) in Mechanical Engineering, UC Berkeley06) in Mechanical Engineering, UC BerkeleyMajor field: Controls, Minor fields: Dynamics, StatisticsMajor field: Controls, Minor fields: Dynamics, StatisticsM.S. (M.S. (‘‘02) in Mechanical Engineering, UC Berkeley02) in Mechanical Engineering, UC BerkeleyB.S. (B.S. (‘‘98) in Mechanical Design and Production Engineering, 98) in Mechanical Design and Production Engineering, YonseiYonseiUniversity at Seoul, Korea University at Seoul, Korea Research Interests: Research Interests: Adaptive, learning, distributed and robust control, Adaptive, learning, distributed and robust control, with applications to with applications to unsupervised competitive algorithms, selfunsupervised competitive algorithms, self--organizing organizing systems, distributed learning coordination algorithms for autonosystems, distributed learning coordination algorithms for autonomous mous vehicles, multiple robust controllers, and microvehicles, multiple robust controllers, and micro--electromechanical electromechanical systems (MEMS)systems (MEMS)2459 EB, Phone:2459 EB, Phone:(517)(517)--432432--3164, Email: 3164, Email: [email protected]@egr.msu.edu, , Website: http://Website: http://www.egr.msu.eduwww.egr.msu.edu/~jchoi//~jchoi/ME451 S074MotivationMotivationA A control systemcontrol systemis an interconnected system to manage, is an interconnected system to manage, command, direct or regulate some quantity of devices or command, direct or regulate some quantity of devices or systems.systems.Some quantity: temperature, speed, distance, altitude, forceSome quantity: temperature, speed, distance, altitude, forceApplicationsApplicationsHeater, hard disk drives, CD playersHeater, hard disk drives, CD playersAutomobiles, airplane, space shuttleAutomobiles, airplane, space shuttleRobots, unmanned vehicles,Robots, unmanned vehicles,ME451 S07ME451 S075OpenOpen--Loop vs. ClosedLoop vs. Closed--Loop ControlLoop ControlOpenOpen--loop Control Systemloop Control SystemToaster, microwave oven, shoot a basketballToaster, microwave oven, shoot a basketballCalibration is the key!Calibration is the key!Can be sensitive to disturbancesCan be sensitive to disturbancesPlantController(Actuator)Signal InputManipulatedvariableoutputME451 S076OpenOpen--Loop vs. ClosedLoop vs. Closed--Loop ControlLoop ControlClosedClosed--loop control systemloop control systemDriving, cruise control, home heating, guided missileDriving, cruise control, home heating, guided missilePlantController(Actuator)SensorSignal InputErrorManipulatedvariableoutput+-ME451 S07ME451 S077Feedback ControlFeedback ControlCompare actual behavior with desired behaviorCompare actual behavior with desired behaviorMake corrections based on the error differenceMake corrections based on the error differenceThe The sensorsensorand the and the actuatoractuatorare key elements of a feedback loopare key elements of a feedback loopDesign Design control algorithmcontrol algorithmPlantSensorSignal InputErroroutput+-ActuatorControlAlgorithmME451 S078Common Control ObjectivesCommon Control ObjectivesRegulation (regulator)Regulation (regulator): maintain controlled output at : maintain controlled output at constant constant setpointsetpointdespite disturbancesdespite disturbancesRoom temperature control, Room temperature control, Cruise controlCruise controlTracking (servomechanism)Tracking (servomechanism): controlled output follows a : controlled output follows a desired desired timetime--varying trajectory varying trajectory despite disturbancesdespite disturbancesAutomatic landing aircraft, Automatic landing aircraft, Hard disk drive data track following controlHard disk drive data track following controlME451 S07ME451 S079Control ProblemControl ProblemDesign Control Algorithm Design Control Algorithm such that the closedsuch that the closed--loop system meets certain performance loop system meets certain performance measures, and specificationsmeasures, and specificationsPerformance measures in terms ofPerformance measures in terms ofDisturbance rejectionDisturbance rejectionSteadySteady--state errorsstate errorsTransient responseTransient responseSensitivity to parameter changes in the plantSensitivity to parameter changes in the plantStability of the closedStability of the closed--loop systemloop systemME451 S0710Why the Stability of the Dynamical System?Why the Stability of the Dynamical System?Engineers are not artists: Engineers are not artists: Code of ethics, ResponsibilityCode of ethics, ResponsibilityOtherwise, Otherwise, Tacoma Narrows Tacoma Narrows Bridge:Bridge:Nov. 7, 1940Nov. 7, 1940Wind-induced vibrations CatastropheME451 S07ME451 S0711Linear (Dynamical)
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