Control Engineering Theory and Applications

Description

The book provides general knowledge of automatic control engineering and its applications. Providing an overview of control theory and systems, the chapters introduce transfer functions, modeling of control systems, automatic control systems, block diagrams, and signal flow graphs. While control system analysis and design are accompanied by root-locus methods and frequency response analyses, distributed control systems, nonlinarity in control systems including Z-transformation are also presented. With straightforward demonstrations, examples, and multiple-choice questions, this book can be used as a reference textbook for electrical and electronics engineering, computer control engineering, automation engineering, mechatronics engineering, mechanics, robotics, AI control systems, hydraulics, process engineering, safety control engineering, aeronautical and aerospace engineering, auto-pilot system, decision-making system, and stock exchange, and will be suitable for majors, non-majors, and experts in the field of science and technology. Cover Half Title Title Page Copyright Page Table of Contents Preface Acknowledgments CHAPTER 1 ▪ Overview of Control Theory and System 1.1 Brief History and Developments of Control Systems 1.2 Control Systems and Theory 1.2.1 Control Theory and Engineering 1.2.2 Definition of a Control System 1.2.3 Features of a Control System 1.2.4 Requirements of a Good Control System 1.2.5 Advantages of Control Systems or Why Do We Need Control Systems? 1.3 System Configurations 1.3.1 Open-Loop Control System 1.3.1.1 Practical Examples of Open-Loop Control System 1.3.1.2 Advantages and Disadvantages of Open-Loop Control System 1.3.2 Closed-Loop or Feedback Control System 1.3.2.1 Advantages and Disadvantages of Closed-Loop Control System 1.3.3 Comparison of Closed-Loop and Open-Loop Control Systems 1.3.4 Components of Closed-Loop System 1.4 Application of Control Theory in Engineering and Technology 1.4.1 Control System Engineering 1.4.2 Differential Equation of a System 1.4.3 Physical Model and System Block Diagram 1.5 Basic Elements of the Control System 1.6 Basic Types of Automatic Control Systems 1.6.1 According to the Motion Law of Quantity 1.6.2 According to the System Response Characteristics 1.6.3 According to Implementation of the Components of the Physical Properties 1.6.4 Classification According to the Type of Control 1.7 Design and Analysis Process 1.7.1 Design and Compensation of Control Systems 1.7.2 Control Systems Analysis Process 1.8 Test Waveforms Used In Control Systems Examples Exercises MCQ and True/False Questions CHAPTER 2 ▪ Transfer Function and Modeling of Control Systems 2.1 Mathematical Modeling of the Control System 2.1.1 Differential Equation of the Control System 2.1.2 Linearization of the Differential Equation 2.2 Laplace Transformation and Inverse Transformation 2.2.1 Applications of Laplace Transform 2.2.2 Characterization of LTI Systems Using Laplace Transform 2.2.3 Definition of Laplace Transformation 2.2.4 Laplace Transformation of Some General Function 2.2.5 Property of the Laplace Transformation 2.2.6 Laplace Transformation Table 2.2.7 Graphs of Hyperbolic Functions 2.2.8 Inverse Laplace Transformation 2.2.9 Inverse Hyperbolic Functions 2.2.10 Graphs of Inverse Hyperbolic Functions 2.3 Constant Coefficient Linear Differential Function Using the Laplace Transformation 2.4 Transfer Function 2.4.1 The Advantages of the Transfer Function 2.4.2 Mathematical Representation of the Transfer Function 2.4.3 Comments and Keynotes 2.5 Function Transformations 2.5.1 Impulse Response Function (IRF) 2.5.2 Laplace Transformation Theorems 2.6 Constant Control Action of Transfer Function 2.7 Control System Modeling 2.8 Mechanical System Modeling of Control System 2.8.1 Translational Mechanical System Transfer Functions 2.8.2 Rotational Mechanical System Transfer Functions 2.8.3 Equation of Motion by Inspection 2.9 Mathematical Modeling of Electrical and Electronic Systems 2.9.1 Electrical and Electronic Systems 2.9.2 Electromechanical System 2.10 Liquid-Level Systems and Thermal System 2.10.1 Liquid-Level Systems 2.10.2 Liquid-Level Systems with Interaction 2.10.3 Thermoelectrical System Examples Exercises MCQ and True/False Questions CHAPTER 3 ▪ Automatic Control Systems, Block Diagrams, and Signal Flow Graphs 3.1 Automatic Control Systems 3.1.1 Functions of Automatic Controllers 3.1.2 Automatic Control Systems Representation 3.1.3 Classifications of Automatic or Industrial Controllers 3.1.4 Transfer Function of Automatic or Industrial Controllers 3.2 Block Diagram of Control System and its Simplification 3.2.1 Components of the Block Diagram 3.2.2 Equivalent Transformation of the Block Diagram 3.2.3 Rules of Equivalence for Block Diagrams 3.3 Different Kinds of Block Diagram 3.4 Reduction of Block Diagrams 3.5 Signal Flow Graph And Mason's Rules 3.5.1 Signal Flow Graphs 3.5.2 Terms of Signal Flow Graph 3.5.3 Signal Flow Graph Algebra 3.5.4 Signal Flow Graph of Linear System 3.5.5 Signal Flow Graph of a Control System 3.6 Mason'S Rules and Mason's Gain Formula Exercises MCQ and True/False Questions CHAPTER 4 ▪ Transient Response Analyses in Time Domain 4.1 Typical Signals Analysis in Time Domain 4.1.1 Step Function and Unit-Step Function 4.1.2 Ramp Function and Unit-Ramp Function 4.1.3 Parabolic (Acceleration) Function 4.1.4 Impulse Function 4.1.5 Sinusoid Function 4.2 Control Systems Analysis and Analyzing Process 4.2.1 Transient Response and Steady-State Response 4.2.2 Stability, Absolute Stability, Relative Stability and Steady-State Error 4.3 Transient Response of First-Order Systems 4.3.1 Unit-Step Response of First-Order Systems 4.3.2 Unit-Ramp Response of First-Order System 4.3.3 Unit-Impulse Response of First-Order System 4.3.4 Important Property of LTI Systems 4.3.5 Time Response of First-Order System 4.4 Transient Response of Second-Order Systems 4.4.1 Unit-Step Response of Second-Order Systems 4.5 Second-Order Systems and Transient Response Specifications 4.5.1 Definition of Transient Response Specifications 4.5.2 Comments on Transient Response Specifications 4.5.3 Transient Response Specifications of Second-Order Systems for Underdamped Case 4.5.4 Transient Response Specifications of Second-Order Systems for Overdamped and Critically Damped Condition 4.5.5 Servo System with Velocity-Feedback System 4.5.6 Unit-Impulse Response of the Second-Order System 4.5.7 Unit-Ramp Response of the Second-Order System 4.6 Transient Response of High-Order Systems 4.6.1 Real Poles and Pairs of Complex-Conjugate Poles of Higher-Order Systems 4.7 Stability Analyses and Criterion 4.7.1 Stability Analysis in Complex Plane 4.7.2 Routh's Stability Criterion of Stability Analyses 4.7.3 Effects of Integral Control Actions on System Performance 4.7.4 Effects of Derivative Control Actions on System Performance 4.7.5 Steady-State Errors in Unity-Feedback Control Systems 4.7.6 Gear Train System and SSE for Disturbances 4.8 Matlab and Matlab Simulink Matlab Simulink Examples Exercises MCQ and True/False Questions CHAPTER 5 ▪ Root-Locus Method: Control System Analysis and Design 5.1 Root-Locus Plots of Negative-Feedback Systems 5.1.1 Locate Poles and Zeros on S-Plane 5.2 Root-Locus Method 5.2.1 General Rules for Constructing Root-Loci 5.2.2 Preview Constructing Root-Loci 5.2.3 Root-Locus and the System Performance 5.2.4 Relationship Between the Closed-Loop Zero-Pole and the Open-Loop Zero-Pole 5.2.5 The Condition of the Root-Locus: Angle and Amplitude 5.3 Root-Locus Curve of a Simple System 5.4 Basic Rules for Plotting of the Root-Locus Diagram 5.5 Generalized Root-Locus (Parameter Root-Locus) 5.6 The Zero Root-Locus 5.7 Comments On Roots-Locus Plots of Negative-Feedback Systems 5.7.1 Comments on the Root-Locus Plots 5.7.2 Typical Pole-Zero Configurations and Corresponding Root-Loci 5.7.3 Constant ξ Loci and Constant ω[sub(n)] Loci 5.7.4 Conditionally Stable Systems 5.7.5 Nonminimum Phase Systems 5.7.6 Orthogonality of Root-Loci and Constant-Gain Loci 5.8 Comments of Positive-Feedback Systems 5.8.1 Roots-Locus Plots of Positive-Feedback Systems 5.8.2 Rules for Positive-Feedback Systems 5.8.3 Negative-Feedback and Positive-Feedback Systems 5.9 Root-Locus Approach to Control Systems Design 5.9.1 Design by Root-Locus Method 5.9.2 Series Compensation & Parallel (or Feedback) Compensation 5.9.3 Effects of the Addition of Poles and Zeros 5.10 Examples of Root-Locus Application by Matlab Function 5.10.1 Plot the Root-Loci 5.10.2 Judge the Stability of the System Using the Root-Locus Methods Examples Exercises MCQ and True/False Questions CHAPTER 6 ▪ Control System Analysis and Design by Frequency-Response Analyses 6.1 Characteristics Of Frequency 6.1.1 Mathematical Basis of Frequency Method 6.1.2 Steady-State Output (O/P) to Sinusoidal Input (I/P) 6.1.3 The Basic Concept of Frequency Characteristics 6.1.4 Geometric Representation of Frequency Characteristics 6.2 Characteristics of Frequency Response 6.2.1 Bode Diagram or Logarithmic Plot 6.2.2 Basic Factors of G(jω) H(jω) 6.2.2.1 Gain K 6.2.2.2 Integral and Derivative Factors, (jω)[sup(±1)] 6.2.2.3 First-Order Factors (1 + jωT)[sup(–1)] 6.2.2.4 First-Order Factors (1 + jωT)[sup(1)] 6.2.2.5 First-Order Factors (1 + jωT)[sup(±n)] 6.2.2.6 Quadratic Factors & Resonant Frequency 6.2.2.7 Resonant frequency ω[sub(r)] and the Resonant Peak Value M[sub(r)] 6.3 Frequency Response of the Nyquist Plot or Polar Plot 6.3.1 Polar Plots and General Shapes of Polar Plots 6.3.1.1 Integral and Derivative Factors 6.3.1.2 First-Order Factors 6.3.1.3 Quadratic Factors 6.3.2 Natural and Resonant Frequency in Polar Plot 6.3.3 Nyquist Diagram of a Typical Part 6.3.3.1 The Proportional Amplification Gain Factor 6.3.3.2 Integral Factor 6.3.3.3 Differential Factor 6.3.3.4 First-Order Differential Factor 6.3.3.5 First-Order Interial Factor 6.3.3.6 Second-Order Oscillation Relation 6.3.3.7 Second-Order Differential Relation 6.3.3.8 Delay Relation 6.3.4 Drawing of Nyquist Plot 6.4 Bode Diagram or Logarithmic Plot of Frequency Response 6.4.1 Bode Diagram or Logarithmic Plot of Typical Relations 6.4.1.1 Proportional Gain Factor 6.4.1.2 Integral Factors 6.4.1.3 Second-Order Integral Factors 6.4.1.4 Derivative Factors 6.4.1.5 First-Order Inertia Factor 6.4.1.6 First-Order Differential Factor 6.4.1.7 Second-Order Inertia Factor 6.4.1.8 Second-Order Differential Factor 6.4.1.9 Delay Factor 6.4.2 General Method of Bode Diagram Drawing 6.4.3 Steps for Drawing Bode Diagram 6.4.3 Minimum-Phase System 6.4.4 Obtain System Transfer Function from the Frequency-Response Curve 6.5 Relationship Between System Type and Log-Magnitude Curve 6.6 The Closed-Loop Frequency Response of the Control System 6.6.1 Estimation of Closed-Loop Frequency Characteristics 6.6.2 The Frequency-Domain Index of the System 6.7 Nyquist Stability and Mapping Theorem 6.7.1 Nyquist Stability Criterion 6.7.2 Summary of Nyquist Stability Criterion 6.7.3 Remarks on Nyquist Stability Criterion 6.8 Phase Margin and Gain Margin 6.8.1 Phase Margin 6.8.2 Gain Margin 6.8.3 Minimum, Non-minimum-Phase Margin and Gain Margin 6.8.4 Phase Margin and Gain Margin of First-and Second-Order Systems 6.8.5 Comments on Phase and Gain Margins 6.8.6 Negative Margins Indicate Instability 6.9 Cutoff Frequency, Bandwidth (BW), and Cutoff Rate 6.9.1 Cutoff Frequency 6.9.2 Bandwidth (BW) 6.9.3 Cutoff Rate 6.10 Step Transient Response and Frequency Response, M and N Circles 6.10.1 Closed-Loop Frequency Response of Unity-Feedback System 6.10.2 Constant-Magnitude Loci (M Circles) 6.10.3 Constant-Phase-Angle Loci (N Circles) 6.10.4 Use of M and N Circles 6.11 Matlab Functions for Bode Diagram and Nyquist Diagram Examples Exercises MCQ and True/False Questions CHAPTER 7 ▪ Nonlinearity in Control Systems 7.1 Typical Nonlinear System 7.1.1 Insensitive Zone (Dead Zone) 7.1.2 Saturation Characteristic 7.1.3 The Gap or Clearance Characteristics 7.1.4 Relay Characteristics 7.2 Analysis of Nonlinear Systems 7.3 Describing Function 7.4 Common Describing Function of Nonlinear Element 7.4.1 Describing Function in Insensitive Area (Dead Zone) 7.4.2 Describing Function of Saturation Characteristics 7.4.3 Two-Position Relay Characteristic 7.4.4 Three-Position Relay Characteristic 7.4.5 Describing Function of Gap or Clearance Characteristics 7.4.6 Describing Function of Relay Characteristics in Insensitive Region (Dead Zone) 7.5 Stability of Nonlinear Systems 7.5.1 Stability Analysis of Nonlinear Systems 7.5.2 Determination of Self-Oscillation 7.6 Phase Plane Analysis 7.6.1 Plotting of Phase Curves 7.6.1.1 Analytical Method 7.6.1.2 Isoclinic Line Method 7.6.1.3 The d Method 7.6.2 Determine Time Information by Phase Plane 7.6.3 Singularity of the Phase Plane 7.6.4 The Limit Cycle on the Phase Plane 7.7 Phase Plane Analysis of Nonlinear Systems 7.7.1 Nonlinear Phase Plane at Zero Input 7.7.2 Nonlinear Phase Curve of Step and Ramp Input 7.8 Liapunov Method Examples Exercises CHAPTER 8 ▪ Distributed Control System 8.1 The Z-Transform 8.1.1 Sampler and Holder 8.1.1.1 Sampling 8.1.1.2 Holding 8.1.2 Evaluate the Z-Transformations by Definition 8.1.2.1 Definition of Z-Transform 8.1.3 Evaluate Z-Transformations by Residue Theorem 8.1.4 Properties of Z-Transform 8.1.4.1 Linear Theorem 8.1.4.2 Initial Value Theorem 8.1.4.3 Final Value Theorem 8.1.4.4 Real Shifting Theorem 8.1.4.5 Complex Shifting Theorem 8.1.4.6 Translation Theorem of Impulse Train (Delay Theorem) 8.1.4.7 Shifting Theorem of Impulse Train 8.1.4.8 Z-Transformation of Weighted Impulse Train (Scaling Factor) 8.1.4.9 Differential Theorem of Impulse Train 8.1.4.10 Z-Transformation of Difference Equations 8.1.4.11 Z-Transformation for Sum of Impulse Train 8.1.4.12 Convolution Theorem 8.2 The Inverse Z-Transform 8.2.1 Formulae of Inverse Z-Transform 8.2.2 The Inverse Z-Transformation with Power Series 8.2.3 Partial Fraction Expansion Method 8.3 The Z-Transform to Evaluate Difference Equations 8.4 Impulse or Pulse Transfer Function 8.4.1 Definition and Solution for Pulse Transfer Function 8.4.2 The Impulse Transfer Function of Series Connected Open-Loop System 8.5 The Open-Loop Pulse Transfer Function with Zero-Order Holder 8.6 Pulse Transfer Function of Closed-Loop System 8.7 Stability Analysis of Pulse Systems 8.7.1 Stability Analysis 8.8 Application of Matlab Language in Discrete Control System Examples Exercises CHAPTER 9 ▪ Applications with PID and Motor Control System 9.1 DC And AC Motors 9.1.1 DC Motors 9.1.1.1 Series Wound 9.1.1.2 Shunt Wound 9.1.1.3 Compound Wound 9.1.1.4 Permanent Magnet 9.1.2 AC Motors 9.1.2.1 Types of AC Motors 9.2 Stepper and Servomotors 9.2.1 Stepper Motors 9.2.1.1 Stepper Limitations 9.2.2 Servomotors 9.2.2.1 Servo Limitations 9.2.3 Servo Motor Mechanism 9.2.3.1 Working of Servomotors 9.2.4 Construction of Servo Motor 9.2.5 Working Principle of Servo Motor 9.2.5.1 Position Control Unit 9.2.5.2 Speed Control Unit 9.2.5.3 Complete Servo Motor Driver 9.2.5.4 Adjustment of Drive Gain Parameters 9.2.6 Servomotor Control 9.2.6.1 Controlling Servomotor 9.2.7 Continuous Rotation Servomotors 9.2.7.1 Different Types of Servomotor and Its Applications 9.2.8 Types of Servomotor 9.2.8.1 DC Servomotor 9.2.8.2 DC Servomotor Principle and Its Applications 9.2.8.3 DC Servomotor Working Principle 9.2.8.4 Control Signal and Pulse Width Modulator (PWM) 9.2.8.5 Characteristics of DC Servomotor 9.2.8.6 Types of DC Servomotor 9.2.8.7 Transfer Function and Block Diagram 9.2.8.8 Transfer Function and Block Diagram 9.2.8.9 Difference Between Servomotor and DC Motor 9.2.8.10 DC Servomotor Applications 9.2.8.11 DC Servomotor Advantages and Disadvantages 9.2.9 Servo Motor Interfacing with Microcontroller 9.2.9.1 Circuit Diagram Speed Control of DC Motor 9.2.9.2 Line Follower Robot Using Microcontroller 9.2.9.3 Applications of Servomotor 9.3 Process Flow of Sterilization Device 9.4 Structure Design of the Sterilizer Control System 9.4.1 Transfer Function of Sterilization Temperature Control System 9.4.2 Subcontrol Systems of Sterilizer 9.4.3 Hardware Configuration of Sterilizer Control System 9.5 Transfer Functions of the Subcontrol Systems 9.6 Realization of Control Algorithm in Computer 9.7 Tuning for Controllers Bibliography Index