Chapter 1 Introduction § 1.1 Essential Concepts § 1.2 Scope § 1.3 History and Development § 1.4 Research and Development.

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Chapter 1 Introduction § 1.1 Essential Concepts § 1.2 Scope § 1.3 History and Development § 1.4 Research and Development

§ 1.1 Essential Concepts (1) Subject and Relation Subject of Statics: Mainly concern on equilibrium Subject of Dynamics: Mainly concern on states evolution

§ 1.1 Essential Concepts (2) Structure of System Control Key words: control communication controller plant system environment interaction Liberation of Mechanical Control Decomposition of signal and power in mechanical control system through electronics (vacuum tube, transistor, OP,……)

States Evolution States of Mechanical System: (position), (velocity) Controller and System Dynamics Plant:, Additive control: Control action: New dynamics: § 1.1 Essential Concepts (3)

Control and Decision Making § 1.1 Essential Concepts (4) Control is an objective-oriented decision making process.

Automatic derived from the Greek “Automatos” means by its own movement Described by Mathematics Statics:, if linear function (six equilibrium eq.s in space) Dynamics:, if linear function (six D.O.F. in space) Control:, if linear function control dynamics § 1.1 Essential Concepts (5)

§ 1.2 Scope E: electrical H: hydraulic (pneumatic) M: mechanical Servomechanism: position control Control system: automatic control – closed loop automation – open loop

Technological development § 1.3 History and Development (1)

Theoretical development Maxwell (1868): On Governor Lyapunov (1907): Problème général de la stabilité du mouvement Minorsky (1922): Directional Stability of Automatically Steered Body Nyquist (1932): Regeneration Theory § 1.3 History and Development (2)

Mechanical Control Evolution § 1.3 History and Development (3)

A letter to Boulton and Watt 1789, Peter Drinkwater: The governor is of a nature solely calculated to secure more effectually an equable motion under different degrees of heat from the fire,…… James Watt

Watt Flyball Governor (1) Original Script (governor, throttle valve, and connexions 1798)

Operation principle: It measured the speed of the output shaft and utilized the movement of the flyball with speed to control the valve and therefore the amount of steam entering the engine. As the speed increases, the ball weights rise and move away from the shaft axis thus closing the valve. Watt Flyball Governor (2)

Watt Flyball Governor (3) Dynamics

§ 1.4 Research and Development (1)

§ 1.4 Research and Development (2) Automatic Machinery Industry

§ 1.4 Research and Development (3) Technical Systems