436-301 Control Systems

Credit Points

Coordinator

Prerequisites

436-206 Electro-Mechanical Machine Behaviour, 200-level Mathematics and 100-level Computing

Semester

Contact

Subject Description

On completion of this subject students should be able to; formulate linearised mathematical models of mechanical engineering systems; determine time - and frequency - domain responses of such systems; analyse quantitatively the effects of feedback on system performance; make effective use of computational aids of the analysis and design of continuous control systems; design simple linear, continuous feedback-controllers; simulate system performance including the effects of simple nonlinearities.

Topics covered include; Analysis: Review of mathematical representations of linear continuous dynamical systems; Fourier and Laplace analysis of signals and systems. Linearisation of models. Transient and steady-state time responses, frequency response, stability. Root locus, Bode and Nyquist plots. Effects of feedback on steady-state accuracy, sensitivity, disturbance rejection, speed and stability of response. Design: Classical compensator design using root locus and frequency response techniques; lead, lag, lag-lead, PID, Cascade and feedback compensation. Nonlinearities: Effects of simple nonlinearities on control system performance; Coulomb friction, saturation, backlash; sinusoidal describing functions, limit cycles. Simulation of nonlinear systems using Matlab. Case studies: Detailed examination of control design issues for representative mechanical and manufacturing engineering systems, such as machine tool axis or active vehicle suspension.

Assessment

One examination not exceeding three-hours; tests, assignments and laboratory reports, not exceeding 20 pages