DYNAMIC ANALYSIS AND CONTROL

（Module NHA2414)）

LECTURE 1-2
CONTROL SYSTEM INTRODUCTION
Dr Bo Liang
Department of Engineering and Technology.
University of Huddersfield

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 Control system
 Generally speaking, a control system is a system
that is used to realize a desired output or
objective.

 Control systems are everywhere

◦ They appear in our homes, in cars, in industry, in
scientific labs, and in hospital…

◦ Principles of control have an impact on diverse fields as

engineering, aeronautics ,economics, biology and
medicine…

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 Control System Configurations

Open-loop control system (without feedback)

Closed-loop feedback control system (with feedback)

Open-loop control system for a car driving (without feedback)

Speed
output

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Closed-loop control system for a car driving (with feedback)

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Open-loop and Closed-loop Control Response

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Another example for an open and closed loop control of disk speed

FIGURE (a) Open-loop (without feedback) control of the speed of a rotating disk. (b) Block diagram model.

FIGURE (a) Closed-loop control of the speed of a rotating disk. (b) Block diagram model
 A few concepts for differential equations
What are differential equations?
Equations containing derivatives are differential equations (DE).
𝑑𝑥 𝑑2𝑥 𝑑 𝑛
𝑥
𝑥ሶ = 𝑥ሷ = 2 ….. 𝑥 (𝑛) = 𝑛
𝑑𝑡 𝑑𝑡 𝑑𝑡
First ODE Second ODE nth ODE
Why differential equations?
In order to understand and to investigate problems involving a dynamic
system, we need to build up mathematical modals for the system. Normally
differential equations are the bases and tools for a mathematical modelling of
the dynamic system.
Homogenous and Nonhomogeneous DE?
3𝑥ሷ + 7𝑥ሶ + 2𝑥 = 0 3𝑥ሷ + 7𝑥ሶ + 2𝑥 = 5 + 𝑠𝑖𝑛𝑡
Normally we call the dependant variable as the solution or response (put them on the left
side of =), and any other independent constants or functions of time on the right side of =
If the right hand side is zero, the equation is homogenous DE Otherwise, it is nonhomogeneous DE.
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First order differential equation (ODE) modelling for a car

Assume: Driven force 𝐹𝑝 (𝑡) = 𝑘𝜃

k-driven coefficient, 𝜃 − padal angle
Fr
Resistant force 𝐹𝑟 = 𝐵𝑣
𝐵 − viscous resistant coefficient
From Newton’s second law:
𝑑𝑣 𝑑𝑣
𝑚 = 𝐹𝑝 𝑡 − 𝐹𝑟 → 𝑚 = 𝑘𝜃 − 𝐵𝑣
𝑑𝑡 𝑑𝑡
This is a first order differential equation (ODE). Its solution is:
𝑘𝜃 𝑡 𝑘𝜃 𝑚
𝑣 𝑡 = 1 − 𝑒 𝐵𝑡Τ𝑚 = 𝑣𝑠𝑠 (1 − 𝑒 ൗ𝜏 ) 𝑣𝑠𝑠 = 𝜏= called time constant
𝐵 𝐵 𝐵

63% Vss

(𝜏)
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1𝜏
Second order differential equation (ODE) modelling for a car suspension
(without ground moving up and down)

From Newton’s second law:

𝑚𝑦ሷ = −𝑐 𝑦ሶ − 𝑘𝑦 → 𝑚𝑦ሷ + 𝑐𝑦ሶ + 𝑘𝑦 = 0
This is a second order differential equation (ODE)
The natural frequency is:

𝑘
→ 𝑦ሷ + 2𝜉𝜔𝑛 𝑦ሶ + 𝜔𝑛2 𝑦 = 0
𝜔𝑛 = rad/s
𝑚

The damping ratio is:

𝑐 𝑐 𝑐
𝜉= = =
𝑐𝑐 2 𝑚𝑘 2𝑚𝜔𝑛

Click here for Interactive Animation 10

Second order differential equation (ODE) modelling for a car suspension
(with ground moving up and down)

𝑑 2 𝑦1 𝑑(𝑦1 − 𝑦2 )
𝑚 = −𝑘(𝑦1 − 𝑦2 ) − 𝑐
𝑑𝑡 2 𝑑𝑡
𝑑 2 𝑦1 𝑑𝑦1 𝑑𝑦2
→ 𝑚 2 + 𝑘𝑦1 + 𝑐 = 𝑘𝑦2 + 𝑐
𝑑𝑡 𝑑𝑡 𝑑𝑡 11
 Asteroid exploration
Segway scooter
Aircraft control

Three Control System Design Objectives

❑Producing the desired transient response
❑Reducing steady-state errors
❑Achieving stability
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FIGURE The control system design process.
Antenna Position Control Example

Click here for Interactive Animation

Click here for Interactive Animation

Antenna Position Control Example

Click here for Interactive Animation

Click here for Interactive Animation

 System response

Transfer function (s-plane, poles, zeros) 16

 Model Based Design
What is model based design?
Model-Based Design is a process that includes development of dynamic systems,
including control systems, signal processing, and communications systems.

Why model based design?

Model-Based Design is transforming the way engineers and scientists work by
moving design tasks from the lab and field to the desktop, which enables fast and
cost-effective development of a product.

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Matlab/Simulink Software
(Mathworks)

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Matlab/Simulink Software
(Mathworks)

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 Example: An airplane roll angle control

The control of the roll angle of an airplane is achieved by using the torque
developed the ailerons. A linear model of the roll control system for a small
experimental aircraft is shown. Where
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𝐺 𝑠 = 2
𝑠 + 4𝑠 + 9

Select the appropriate gain values for kp , kI and kd that will give a desirable
transient response for the airplane.

kI
C (s) = k p + + kD s
s
Φr e u Φ
Controller airplane
+
_ C(s) G(s)

Close-loop system

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PID controller for airplane roll angle control (Matlab code)
% PID controller for airplane roll angle control
% The plane transfer function: 1/(s2+4s+9)
𝑘
% The controller transfer function: (𝑘𝑝 + 𝑠𝑖 + 𝑘𝑑 𝑠)

num=1;
denom=[1 4 9];
G_plane=tf(num,denom);
H=1;
No_pid_control=feedback(G_plane,H)
step(No_pid_control)
axis([0 5 0 1.6])
grid, hold on

% Add PID controller

kp=200;
ki=30;
kd=40;
pid_controller=pid(kp,ki,kd);

With_pid_controller=feedback(pid_controller*G_plane,H);
step(With_pid_controller)

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 The Multibody Dynamics Simulation Solution
There are many Multibody Dynamics Software which are used by leading
companies in multiple industries to develop and test the products we see
everyday

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End

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