Н. В. Моина ю. Б. Генина т. В. Шульженко чтение английской научнотехнической литературы
 Скачать 371 Kb.
|
CONTROL ENGINEERING AND ROBOTICSAn Overview of Control EngineeringModern day control engineering (also called control systems engineering) is a relatively new field of study that gained a significant attention during 20th century with the advancement in technology. It is the engineering discipline that applies control theory to design systems with predictable behaviors. Control theory is an interdisciplinary branch of engineering and mathematics that deals with the behavior of dynamical systems. The desired output of a system is called the reference. When one or more output variables of a system need to follow a certain reference over time, a controller manipulates the inputs to a system to obtain the desired effect on the output of the system. The usual objective of control theory is to calculate solutions for the proper corrective action from the controller that result in system stability, that is, the system will hold the set point and not oscillate around it. The practice uses sensors to measure the output performance of the device being controlled (often a vehicle) and those measurements can be used to give feedback to the input actuators that can make corrections toward desired performance. When a device is designed to perform without the need of human inputs for correction it is called automatic control (such as cruise control for regulating a car's speed). Multi-disciplinary in nature, control systems engineering activities focus on implementation of control systems mainly derived by mathematical modeling of systems of a diverse range. Control engineering has an essential role in a wide range of control systems, from simple household washing machines to high-performance F-16 fighter aircraft. It seeks to understand physical systems, using mathematical modeling, in terms of inputs, outputs and various components with different behaviors; use control systems design tools to develop controllers for those systems; and implement controllers in physical systems employing available technology. A system can be mechanical, electrical, fluid, chemical, financial and even biological. Types of Control SystemsThere are two types of control systems namely: open loop control systems (non-feedback control systems) and closed loop control systems (feedback control systems). Open loop control system. If in a physical system there is no automatic correction of the variation in its output, it is called an open loop control system. That is, in this type of system, sensing of the actual output and comparing of this output (through feedback) with the desired input does not take place. The system on its own is not in a position to give the desired output and it cannot take into account the disturbances. In these systems, the changes in output can be corrected only by changing the input manually. These systems are simple in construction, stable and cost cheap. But these systems are inaccurate and unreliable. Moreover these systems do not take account of external disturbances that affect the output and do not initiate corrective actions automatically. Examples of open loop control systems: automatic washing machine; traffic signal system; home heating system ( without sensing, feedback and control). Any non-feedback control system can be considered as a feedback control system if it is under the supervision of someone. Although open loop control systems have economical components and are simple in design, they largely depend on human judgment. As an example, let us consider a home furnace control system. This system must control the temperature in a room, keeping it constant. An open loop system usually has a timer which instructs the system to switch on the furnace for some time and then switch it off. Accuracy cannot be achieved as the system does not switch on/off based on the room temperature but it does as per the preset value of time. Closed loop control system. A closed loop control system is a system where the output has an effect upon the input quantity in such a manner as to maintain the desired output value. An open loop control system becomes a closed loop control system by including a feedback. This feedback will automatically correct the change in output due to disturbances. This is why a closed loop control system is called an automatic control system. In a closed loop control system, the controlled variable (output) of the system is sensed at every instant of time and compared with the desired input resulting in an error signal. This error signal directs the control elements in the system to do the necessary corrective action such that the output of the system is obtained as desired. The feedback control system takes into account the disturbances also and makes the corrective action. These control systems are accurate, stable and less affected by noise. But these control systems are sophisticated and hence costly. They are also complicated to design for stability, give oscillatory response and feedback brings down the overall gain of the control system. |