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

2. § 1.1 Essential Concepts (1)
Subject and Relation
Subject of Statics:
Mainly concern on equilibrium
Subject of Dynamics:
Mainly concern on states evolution

3. § 1.1 Essential Concepts (2)
Structure of System Control
Key words:
command
response
control
state communication controller
plant
system environment disturbance
command
response
Liberation of Mechanical Control Decomposition of signal and power
in mechanical control system through
electronics (vacuum tube, transistor,
OP,……)

4. § 1.1 Essential Concepts (3)
Ex: Computer Architecture

5. § 1.1 Essential Concepts (4)
Automatic derived from the Greek “Automatos”
means by its own movement
Described by Mathematics
Statics: , if linear function (six equilibrium eqs in space)
Dynamics: , if linear function (six D.O.F. in space)
Control: , if linear function
control dynamics
Output: , if linear function

6. § 1.1 Essential Concepts (5)
States Evolution
States of Mechanical System: (position), (velocity)
Controller and System Dynamics
Plant: ,
Additive control:
Control action:
New dynamics:
Output response:

7. § 1.1 Essential Concepts (6)
Control and Decision Making
Control is an objective-oriented decision making process.

8. § 1.2 Scope E: electrical H: hydraulic (pneumatic) M: mechanical
E-H
H-M
E-M
servo
servo mechanism
servo control
closed-loop control
control system
artifact system
ecological system
E: electrical
H: hydraulic (pneumatic)
M: mechanical
Servomechanism: position control
Control system: automatic control – closed loop
automation – open loop

9. § 1.3 History and Development (1)
Technological development

10. § 1.3 History and Development (2)
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

11. § 1.3 History and Development (3)
Mechanical Control Evolution

12. § 1.3 History and Development (4)
James Watt
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,……

13. Original Script (governor, throttle valve, and connexions 1798)
§ 1.3 History and Development (5)
Watt’s Flyball Governor
Original Script (governor, throttle valve, and connexions 1798)

14. § 1.3 History and Development (6)
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.

15. § 1.3 History and Development (7)
Dynamics

16. § 1.4 Research and Development (1)

17. § 1.4 Research and Development (2)
Hadware and Software in Automatic Machinery
command
response
Actuator- a device that converts energy into mechanical motion
Sensor- a device that detects and responses to specific input(s) from the physical environment

18. § 1.4 Research and Development (3)
Automatic Machinery Industry

19. § 1.4 Research and Development (4)
Technical Systems