Faculty of Mechanical and Power Engineering. Short history of control systems CONTROL SYSTEMS. Dr inŝ. JANUSZ LICHOTA

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1 Faculty of Mechanical and Power Engineering Dr inŝ. JANUSZ LICHOTA CONTROL SYSTEMS Short history of control systems

2 CONTENTS Prehistory 600 B.C A.D ? The Middle Ages Mathematical foundations Control systems analysis Worlds war Modern control systems Future

3 PREHISTORY 600 B.C Field of researches Beginning of electromagnetism science Thales of Miletus ( , VI B.C.) is rubbing grass and amber. He observes attraction as result. Thales friends are observing him.

4 PREHISTORY 600 B.C Field of researches Greeks and Arabs measure time Chinese measure directions

5 PREHISTORY 600 B.C Field of researches Greeks and Arabs measure time A sundials were earliest time measure form water clocks were used on Ktesibios island, 270 BC, Time scale Time scale Float Diaphragm Float

6 PREHISTORY 600 B.C. 1258

7 PREHISTORY 600 B.C Water clock was used on Heron island, 100 BC In 1258 B.C. Mongolian capture Baghdad and being not capable to do anything else they are stopping research into water clock ext clock will be mechanical, XIV century

8 PREHISTORY 600 B.C In XII century Chinese used chariots with statue showing South direction It was mechanical solution - gears were used. Coachman drived according to statue s indication. Accuracy was not high. About 20 km. That s why Chinese did not reach Tibet.

9 PREHISTORY 600 B.C Open-loop control Archimedes of Syracuse during siege is causing panic in Roman army, which was not accustomed to learning, constructing catapults.

10 ? The Middle Ages... Mechanical clock in a tower Mill wheels were constructed to Cervantes and Don Quixote delight Open-loop control simple lancher of melted stones firearms

11 Mathematical foundations Watt s flyball governor Water-level float regulator Research on electric fields Mathematical foundations

1750 1900 Mathematical foundations James a Watt (1769) controlled speed of a steam engine ballet dancer rule rotary moment

12 Mathematical foundations James a Watt (1769) controlled speed of a steam engine ballet dancer rule rotary moment conservatrion rule Two balls weights move around shaft as the speed increases weights rise and move away from the shaft thus closing the valve.

13 Mathematical foundations Water-level float regulator Two main applications water distribution systems and steam engines Thomas Crapper used them to toilets After 1791 Watt used them to steam engines

14 Mathematical foundations Electric field research. Since Thales times there were progress 1809, Sir Humphrey Davy demonstrated arc lamp 1831, Michael Faraday showed movement in electrical and magnetic fields 1834, current generators were produced out of wire 1870-ties, development of engines and generators

15 Mathematical foundations Mathematical foundations Pierre Simon Laplace created mathematical tool known later as Laplace transform x(t) -> X(s) Advantage of transform was possibility to solve differential equation as algebraic equation One should transform equation on Gauss plane F(s), and receive solution in time-domain by means of reverse Laplace transform It was generalization of Jeana Babtiste Fourier transform. Instead variable s=jω was s=α+j ω. Cauchy publishes theorem commonly known as principle of argument of function F(s) at point s travel on Gauss plane.

16 Mathematical foundations Dr. Guillotin inventes guillotine Cybernetic market governor Jacobin government buys in masses that equipment, finding it very usefull Process for research Error 0 guillotine Process property measurement - + Cybernetic governer Ideas Error Process set-point

1750 1900 Mathematical foundations The Maiden, an older Scottish

17 Mathematical foundations The Maiden, an older Scottish design. This example is an exhibit at the Museum of Scotland, Edinburgh

18 Mathematical foundations James Maxwell, mathematical modelling Edward Routh stability criterion A.M. Lapunov general stability criterion O.Heaviside step response

19 Mathematical foundations James Maxwell in 1868 proposed mathematical model describing Watt s governor He used linear approximations of governor equations He stated, that governor characteristic equation roots must have negative real parts to stabilize control loop He woked out stability criterion for tranfer functions of 2nd and 3rd order

20 Mathematical foundations Edward Routh stability criterion, 1877 He get Adams prize He observes control loop instability in case, if one of characteristic equation coefficients is negative or zero. Writing down coefficients in table (matrix) control loop stability limit can be computed

21 Mathematical foundations A.M. Lapunov general stability criterion, 1893 Criterion is based on nonlinear motion differential equation So it includes linear processes His work is essential in state-space analisys of control loops

22 Mathematical foundations Oliver Heaviside ( ) step response Step response allows to distinguish types of different processes It is geometrical method which describes all possible linear processes 1 0 time

23 Mathematical foundations 1910, Elmer A. Sperry develops the gyroscope and autopilot

24 Control systems analysis H.W. Bode frequency analysis of closedloop control Harry yquist stability criterion. Minorsky PID controller

25 Control systems analysis Harold W. Bode (1927) frequency analysis of closed-loop control He inventes feedback amplifier in order to eliminate disturbances, but has problem with showing of phase shift Amplifier with positive feedback (Armstrong, 1915), High amplification, but sensitive on disturbances Amplifier with negative feedback H.S. Black (1927) Gain is lower but insensitive on disturbances

26 Control systems analysis The Feedback Amplifier The Feedback Amplifier Telephone Calls Over Long Distances The Problem: How to Increase Signal Strength? The Solution: The Feedback Amplifier Patented by Black 1928 Patent Granted 1937 Strong Development of Theory and Design Methods

27 Control systems analysis Phase shift was shown versus frequency (Bode plot) on separate figure Bode plots gain and phase shift versus frequency It can be used to gain and phase margin estimation. Controller parameters can be designed too. Black proposed his own version of Bode plots, of course.

28 Control systems analysis 0 Bode plots for transmitation Bode Diagrams G(s)=1/(s+1) From: U(1) Phas e (deg); Magnitude (db) To: Y(1) Frequency (rad/s ec)

29 Control systems analysis Harry Nyquist stability criterion He publish stability criterion in 1932 basing on Cauchy theorem This criterion allows to conclude about close loop control system stability investigatin open-loop control system Simplest version of criterion N: If yquist curve does not include point (-1, j0), then closed-loop control system is stable

30 Control systems analysis Nyquist curve for function G(s) = 1/(s+1) 0.6 Nyquist Diagrams From: U(1) Imaginary Axis To: Y(1) Real Axis

1900 1939 Control systems analysis 1921 Karel

31 Control systems analysis 1921 Karel Capek writes play about robots Rabota = work (russian)

32 Control systems analysis N. Minorsky PID controller, 1922 Controller multipies error by gain (P part), integrals (I part) and differentiates (D part) it. So name PID comes into being He proposed first application to ship steering Nowadays 95% control loops includes PID controller N. Minorsky, Directional stability of automatically steered bodies, J.Am.Soc. Naval. Eng., 34, s.284

33 Worlds war von Braun, V-1 rocket 1942, Ziegler and Nichols, first PID tuning method 1948, Evans, root locus method Bellman s dynamic programming equation, Pontriagin s maximum rule 1957, Sputnik 1960, Kalman filter

34 Worlds war von Braun (1942), V-1 rocket (Vergeltungswaffe) In control-loop were used lamps (transistor predecessor) One of Hitler s crucial war programms ends because of problems with control loops.. Rockets didn t hit the targets in London. They hitted chicken coops in villages near London. 10 days before Warsaw Uprising AK (Home Army) delivers complete V-1 to Great Britain, After 1945 von Braun (PhD), because of lack of employment in Germany and lack of pork chops in canteen leaves Germany for Great Britain to do consecutive research (he didn t know about Marshall s plan for europe)

35 Worlds war 1942, Ziegler and Nichols, PID tunning First scientific method Every control engineer knows this method There are about 300 different PI/PID controller tuning methods

36 Worlds war

37 Worlds war 1948, Evans, root locus method Changing locus of characteristic polynomial roots step response of closed-loop system changes. One can compute gain at stability limit following roots locus

1939 1962 Worlds war 1950 Short story I Robot with ethical code 1.don t harm 2.

38 Worlds war 1950 Short story I Robot with ethical code 1.don t harm 2.execute human s orders, if they don t break rule 1 3.exist till it doesn t break rule 1 or 2

1962-2007 Modern control systems Stanisław Lem 1974 the Cyberiad mechanical universe ruled by robots 1957 The

39 Modern control systems Stanisław Lem 1974 the Cyberiad mechanical universe ruled by robots 1957 The Star diaries - Ijon Tichy dicovers different cybernetic systems (social systems) observing at the same time his own.

40 Worlds war 1954, George Devol, builds first modern industrial robot

41 Worlds war Bellman s dynamic programming (1957), Pontriagin s maximum principle (1962) Equivalent rules based on Hamilton-Jacobi equation (HJB) allowing to determine optimal path e.g. for rocket Thank those rules, position satellite and Kalman filter, everlasting problem of exact neighbour hitting was solved. Precision is equal few meters on globe Unintentionally contributed to this : Euler ( ), Lagrange ( ), Hamilton ( ), Jacobi ( ).

1939 1962 Worlds war 1957, Sputnik, Soviet Union achievement First artificial earth satellite Until now there

42 Worlds war 1957, Sputnik, Soviet Union achievement First artificial earth satellite Until now there were launched more rockets in univers. Please, be careful next time during trip in outer space. Scrap is dangerous

1939 1962 Worlds war 1960, Rudolf Kalman s works Kalman filter optimal state estimator under disturbances with normal distribution Linear-quadratic controller

43 Worlds war 1960, Rudolf Kalman s works Kalman filter optimal state estimator under disturbances with normal distribution Linear-quadratic controller Lapunov function in time-domain Profit : matrix notation allows to determine dynamic changes in system, possibility of finding exact optimal solution in timedomain

44 Worlds war October 1962, Cuba, Russians try to install rockets at Castro (Fidel, This bearded fellow in green tracksuit). Satellites and Bellman s equation makes USA and USSR realized that nuclear game checkmates both sides It ends game. It understood best prepared to be prime minister in USSR director of kolkhose Nikita Khrushchev (outstanding expert in stamping his feet on table in Unated Nations) and J.F.Kennedy.

45 Modern control systems Processor is build, W. Hoff, 1969 PLC (programmable logic controller) Artificial neural networks, fuzzy logic, genetic algorithms, nonlinear state-space controllers, model based control Nanotechnology, internet... By wire

46 Modern control systems Apollo mission Mars Pathfinder, movement algorithm based on fuzzy logic and created with assistance prof. J.Sąsiadek

47 Modern control systems

48 Modern control systems Applications Energy generation Energy transmission Process control Discrete manufacturing Communication Transportation Buildings Entertainment Instrumentation Mechatronics Materials Physics Biology Economics

49 Future Time- and space-scale control broading : from nanotechnology to spacetime folding and time tunnels. Please, be careful going for a walk - black holes! Equivalently increase in accesible energy Example of consequence weather control and weather wars (anyone has idea how to control weather?) Delivering energy from sun Consequence as previous Another ideas?

50 Future Sample idea of controlling weather q=σt 4 Mirror reflects sun radiation. Temperature on Earth decreases 0 kw/m 2 1 kw/m 2 1 kw/m 2

51 Thank you for your attention

ECEN 420 LINEAR CONTROL SYSTEMS. Instructor: S. P. Bhattacharyya* (Dr. B.) 1/18

ECEN 420 LINEAR CONTROL SYSTEMS Instructor: S. P. Bhattacharyya* (Dr. B.) 1/18 Course information Course Duration: 14 weeks Divided into 7 units, each of two weeks duration, 5 lectures, 1 test Each unit