Engineering-State Challenge Session Out of Control

1. Engineering-State Challenge SessionOut of Control Presenter: YangQuan Chen, Ph.D. Demonstrators: Hadi Malek, Jinlu Han, Long Di Dept. of Electrical and Computer Engineering Utah State University 06/14/2011

2. Out of Control? • What “control” means? • To "control" an object means to influence its behavior so as to achieve a desired goal/behavior. • Control is essentially the use of feedback in engineered systems E-State - Out of Control

3. Control is everywhere • ‘Feedback is a central feature of life. The process of feedback governs how we grow, respond to stress and challenge, and regulate factors such as body temperature, blood pressure, and cholesterol level. The mechanisms operate at every level, from the interaction of proteins in cells to the interaction of organisms in complex ecologies.’ M. B Hoagland and B Dodson. The Way Life Works. Times Books, 1995 E-State - Out of Control

4. Control is essential • "The panel believes that control principles are now a required part of any educated scientist’s or engineer’s background...“ Murray et al., "Future directions in control in an information-rich world", IEEE Control Systems Magazine, April 2003 E-State - Out of Control

5. A little bit of history • An early example of a control device is Watt’s Fly Ball Governor. E-State - Out of Control http://csd.newcastle.edu.au/

6. Now what? E-State - Out of Control http://csd.newcastle.edu.au/

7. Recipe for control systems • Success in control engineering depends on making judicious choices regarding the following: • plant, i.e. the process to be controlled • objectives • sensors • actuators E-State - Out of Control http://csd.newcastle.edu.au/

8. Plant • The physical layout of a plant is an intrinsic part of control problems. • A control engineer needs to be familiar with the "physics" of the process under study. • This includes a rudimentary knowledge of the basic energy balance, mass balance and material flows in the system. E-State - Out of Control http://csd.newcastle.edu.au/

9. Objectives • Before designing sensors, actuators or control architectures, it is important to know the goal, that is, to formulate the control objectives. This includes • what does one want to achieve (energy reduction, yield increase,...) • what variables need to be controlled to achieve these objectives • what level of performance is necessary (accuracy, speed,...) E-State - Out of Control http://csd.newcastle.edu.au/

10. Sensors • Sensors are the eyes of control enabling one to see what is going on. Indeed, one statement that is sometimes made about control is: If you can measure it, you can usually control it. E-State - Out of Control http://csd.newcastle.edu.au/

11. Actuators • Once sensors are in place to report on the state of a process, then the next issue is the ability to affect, or actuate, the system in order to move the process from the current state to a desired state E-State - Out of Control http://csd.newcastle.edu.au/

12. Better Sensors • Provide better Vision • Better Actuators • Provide more Muscle • Better Control • Provides more finesse by combining sensors and • actuators in more intelligent ways E-State - Out of Control http://csd.newcastle.edu.au/

13. Some Examples • A high-school student • Objectives: enter college • Sensors: tests • Actuators: textbook – professors E-State - Out of Control

14. Some examples • A driver • Objectives: go from point A to point B • Sensors: eyes - ears • Actuators: wheel drive - accelerator – brakes • Constraints: driver’s handbook rules E-State - Out of Control

15. Some examples • Stability: system maintains desired operating point (hold steady speed) • Performance: system responds rapidly to changes (accelerate to 65mph) with minimal overshoot • Robustness: system tolerates perturbations in dynamics (mass, drag, etc) E-State - Out of Control

16. More examples E-State - Out of Control

17. More examples E-State - Out of Control

18. More examples E-State - Out of Control

19. What do we control at USU? E-State - Out of Control

20. What do we control at USU? E-State - Out of Control

21. What do we control at USU? E-State - Out of Control

22. What do we control at USU? E-State - Out of Control

23. What do we control at USU? E-State - Out of Control

24. What do we control at USU? E-State - Out of Control

25. What do we control at USU? All you can see around here ! E-State - Out of Control

26. Today’s Systems E-State - Out of Control

27. The ball and beam • The ball and beam system is one of the most enduringly popular and important laboratory models for teaching control systems engineering. The ball and beam system is widely used because it is very simple to understand as a system, and yet the control techniques that can be studied it cover many important classical and modern design methods. It has a very important property: it is open-loop unstable. E-State - Out of Control

28. The ball and beam • A ball is placed on a beam where it is allowed to roll with 1 degree of freedom along the length of the beam. • A lever arm is attached to the beam at one end and a servo gear at the other. • When the angle is changed from the vertical position, gravity causes the ball to roll along the beam. E-State - Out of Control

29. The inverted pendulum • At some time you may have tried to balance a brush, bat or other object on your index finger or the palm of your hand? You had to constantly adjust the position of your hand to keep the object upright. An Inverted Pendulum does basically the same thing. E-State - Out of Control

30. The inverted pendulum • The hinge at the bottom of the pendulum is attached to a cart which moves back and forth on a track. The cart is connected to wires which are connected to an electric motor. The voltage applied to the electric motor is controlled by a computer. The observable properties are the current pendulum's angle from vertical and the current cart position. E-State - Out of Control

31. Now, you are ready to start the challenges! E-State - Out of Control