ME 134 Automatic Control Systems (4 units)
ONLINE RESOURCES
CATALOG DESCRIPTION
Linear control systems analysis and design in transform domain and time domain. Transfer functions and state equations. Frequency response and Nyquist stability. Loop shaping. State feedback controller and observer design. Applications to mechanical and mechatronics systems. Computer control.
COURSE PREREQUISITES
ME 132.
TEXTBOOK(S) AND/OR OTHER REQUIRED MATERIAL
Required Text: Control Systems Engineering,
by Norman S. Nise, Benjamin Cummings.
Required class notes: ME134 Classroom notes by
Professors A. Girard, M. Tomizuka and R. Horowitz.
COURSE OBJECTIVES
Introduce and familiarize students with dynamic systems modeling and analysis techniques that can be employed on a large variety of engineering systems.
Introduce and familiarize students with control systems design techniques.
Provide students with a hands-on laboratory experience on modeling, controller design and implementation of a DC-motor positioning and velocity control system.
DESIRED COURSE OUTCOMES
Students who complete ME134 should be able to model, analyze the response of and design control systems for many of the mechatronic devices and systems that they will encounter as professional mechanical engineers.
Specifically, students that complete ME134 should be able to:
1) Model and analyze the time dynamic response of mechanical, electrical and fluid dynamical systems, using unified and systematic techniques.
2) Analyze the behavior of interconnected dynamic systems.
3) Analyze the stability and the transient and steady state response of feedback control systems.
4) Design single-input single-output (SISO) feedback control systems using time and frequency domain design techniques.
5) Implement and tune feedback controllers on actual devices.
A key aspect of ME134 is the inclusion of laboratory assignments, which run parallel to the lectures and homework assignments, and enhance the students' learning experience by reinforcing the learned material with realistic hands-on experiments. Students perform tri-weekly laboratory assignments, in which they progressively, model, identify and design positioning and velocity controllers for an industrial DC-motor setup.
TOPICS COVERED
Lecture Topics:
1. Introduction and review of ME132.
(a) What is control. How are control systems designed: open-loop control/ feedback control.Course outline. (Text Chap. 1)
(b) Modeling of electromechanical systems. (Text 3.1-3.4,3.7)
2. System modeling and the Laplace transform.
(a) Modeling of electromechanical systems. (Text 3.1-3.4,3.7,2.9)
(b) Properties of the Laplace transform. (Text 2.1-2.3)
3. System modeling and the Laplace transform.
(a) Laplace transforms of electromechanical systems. (Text 2.4-2.8)
(b) Laplace transform of state equations. Transfer functions. Poles, zeros, realizability
condition. (Text 3.5-3.6).
4. Time response patterns.
(a) Response of first and second order systems. (Text 4.1-4.4)
(b) System response versus pole and zero location. (Text 4.5-4.9)
5. Representation of multiple subsystems.
(a) Block diagrams. (Text 5.1-5.3)
(b) Signal flow graphs. (Text 5.4-5.7)
6. Midterm I. Stability analysis.
(a) Midterm I.
(b) Stability analysis using the Routh-Hurwitz test. (Text Chapt. 6)
7. Feedback systems.
(a) Steady state and tracking analysis. (Text Chapt. 7)
(b) The PID compensator.
8. Root locus analysis.
(a) Sketching a root locus. (Text Chap. 8)
(b) Sketching a root locus. Selecting a gain from the root locus. (Text Chap. 8)
9. Controller design using the root locus.
(a) Lead compensation. (Text Chap. 9)
(b) Lag compensation. (Text Chap. 9)
10. Frequency response of linear systems
(a) Frequency response analysis. Bode plot techniques. (Text 10.1-10.2)
(b) Bode plot techniques. (Text 10.1-10.2)
11. Stability analysis using frequency response techniques.
(a) Midterm II.
(b) Stability Analysis. The Nyquist theorem. (Text 10.3-10.5)
12. Stability analysis using frequency response techniques.
(a) The Nyquist theorem. (Text 10.3-10.5)
(b) Stability Margins. Closed loop frequency response. (Text 10.6-10.7)
13. Frequency domain controller design techniques.
(a) Frequency domain compensation techniques. (Text Chap 11)
(b) PID Compensator. (Text Chap. 11)
14. Frequency domain controller design techniques.
(a) Lead and lag compensators. (Text Chap. 11)
(b) Notch filters. (Text Chap. 11)
15. Review.
CLASS/LABORATORY SCHEDULE
Three hours of lecture and one hour of discussion per week, and three hours of laboratory every other week.
Laboratory Schedule (weeks):
2-4 Control systems simulation using matlab and simulink.
5-9 Time domain and frequency domain identification of a d.c. motor system.
10-15 Motion control of a d.c. motor system.
CONTRIBUTION OF THE COURSE TO MEETING THE PROFESSIONAL COMPONENT
This course contributes to the students' knowledge of engineering topics and also provides realistic hands-on design experiences. Economic, environmental, safety and sustainability issues are discussed throughout the course. Specifically, it is discussed how the use of control systems can significantly enhance the performance of many mechanical systems, make them cheaper and easier to built by relaxing manufacturing tolerances, improve their energy consumption efficiency and decrease their production of pollutants.
RELATIONSHIP OF THE COURSE TO ABET PROGRAM OUTCOMES
An ability to apply knowledge of mathematics, science, and engineering.
An ability to design a system, component, or process to meet desired needs.
An ability to identify, formulate, and solve engineering problems.
An ability to use the techniques, skills, and modern engineering tools
necessary for engineering practice.
This course provides valuable theoretical and practical training in control system design and analysis of modern mechanical engineering devices, emphasizing a mechatronics approach to the design process. It also serves to reinforce and emphasize the connection between fundamental engineering science and practical problem solving.
ASSESSMENT OF STUDENT PROGRESS TOWARD
COURSE OBJECTIVES
1) Students are assigned weekly homework, which is graded.
2) Students are must turn in a ME107a-style laboratory report that the end of each laboratory assignment, which is also graded.
3) Students take 2 midterm and one final examination.
