Biomedical Control Systems. Lecture#01
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1 1 Biomedical Control Systems Lecture#01
2 2 Text Books Modern Control Engineering, 5 th Edition; Ogata. Feedback & Control Systems, 2 nd edition; Schaum s outline, Joseph J, Allen R. Control Systems Engineering, 6 th edition; Norman S. Nise.
3 3 Marks Distribution Theory exam : 80 marks Sessionals: 20 marks Attendance- 10 marks Class Test- 10 marks Practical: 50 marks Practical test-15 marks Practical viva-15 marks Sessionals-20 marks
4 Course Outline Introduction to Control System, Basic elements in Control system. Open & Closed loop control system. Feedback & its effect, types of Feedback Control system. Differential equation representation of physical systems, transfer function. Mathematical modeling of different control system. Block diagram representation of systems, block diagram reduction techniques, signal flow graph. First-order system, step, ramp & impulse response analysis. Second-order system, step response analysis. Steady-state error, generalized error coefficient. Principle of PID compensation stability analysis. Stability of linear control systems, BIBO. Methods of determining stability- Routh Hurwitz criterion Root Locus method. Sessional Test-I Frequency response, frequency domain specifications of second order system. Correlation between time domain & frequency domain. Bode plot, stability analysis using Bode plot, gain & phase margin. Polar plot-nyquist stability criterion. Concepts of state, state variables & state model. State model of linear system, state space representation using physical variables. Time-domain solution of state equation. Laplace Transform. Controllability & Observability. State-space representation of Discrete-time system. Sessional Test-II 4
5 Definition System An interconnection of elements and devices for a desired purpose. Control System An interconnection of components forming a system configuration that will provide a desired response. Process The device, plant, or system under control. The input and output relationship represents the cause-and-effect relationship of the process. 5
6 6 Control System A control system consists of subsystems and processes (or plants) assembled for the purpose of obtaining a desired output with desired performance, given a specified input. Figure shows a control system in its simplest form, where the input represents a desired output.
7 7 CONTROL SYSTEM TERMINOLOGY To discuss control systems, we must first define several key terms. Input-Stimulus or excitation applied to a control system from an external source, usually in order to produce a specified response from the system. Output- The actual response obtained from the system. It may or may not be equal to the specified response implied by the input. Feedback- That portion of the output of a system that is returned to modify the input and thus serve as a performance monitor for the system. Error- The difference between the input stimulus and the output response. Specifically, it is the difference between the input and the feedback.
8 Definitions Controlled Variable It is the quantity or condition that is measured and Controlled. Normally controlled variable is the output of the control system. Manipulated Variable It is the quantity of the condition that is varied by the controller so as to affect the value of controlled variable. Control Control means measuring the value of controlled variable of the system and applying the manipulated variable to the system to correct or limit the deviation of the measured value from a desired value.
9 Definitions Manipulated Variable Input or Set point or reference Controlle r Process Output Or Controlled Variable Disturbances A disturbance is a signal that tends to adversely affect the value of the system. It is an unwanted input of the system. If a disturbance is generated within the system, it is called internal disturbance. While an external disturbance is generated outside the system.
10 10 Example A very simple example of a feedback control system is the thermostat. The input is the temperature that is initially set into the device. Comparison is then made between the input and the temperature of the outside world. If the two are different, an error results and an output is produced that activates a heating or cooling device. The comparator within the thermostat continually samples the ambient temperature, i.e., the feedback, until the error is zero; the output then turns off the heating or cooling device.
11 11 Example The seemingly simple act of pointing at an object with a finger requires a biological control system consisting chiefly of the eyes, the arm, hand and finger, and the brain. The input is the precise direction of the object (moving or not) with respect to some reference, and the output is the actual pointed direction with respect to the same reference. A part of the human temperature control system is the perspiration system. When the temperature of the air exterior to the skin becomes too high the sweat glands secrete heavily, inducing cooling of the skin by evaporation. Secretions are reduced when the desired cooling effect is achieved, or when the air temperature falls sufficiently. The input to this system may be normal or comfortable skin temperature, a setpoint, or the air temperature, a physical variable. The output is the actual skin temperature.
12 12 Advantages of Control Systems We build control systems for four primary reasons: 1. Power amplification 2. Remote control 3. Convenience of input form 4. Compensation for disturbances
13 For example, a radar antenna, positioned by the low-power rotation of a knob at the input, requires a large amount of power for its output rotation. A control system can produce the needed power amplification, or power gain. 13
14 14 Example Robots designed by control system principles can compensate for human disabilities. Control systems are also useful in remote or dangerous locations. For example, a remotecontrolled robot arm can be used to pick up material in a radioactive environment. Figure 1.4 shows a robot arm designed to work in contaminated environments.
15 History 18th Century James Watt s centrifugal governor for the speed control of a steam engine. 1920s Minorsky worked on automatic controllers for steering ships. 1930s Nyquist developed a method for analyzing the stability of controlled systems 1940s Frequency response methods made it possible to design linear closedloop control systems 1950s Root-locus method due to Evans was fully developed 1960s State space methods, optimal control, adaptive control and 1980s Learning controls are begun to investigated and developed. Present and on-going research fields. Recent application of modern control theory includes such non-engineering systems such as biological, biomedical, economic and socio-economic systems???????????????????????????????????
16 16 Assignment Find out the latest research going on in the field of control engineering related to biomedical/biomedicine/medical field.
17 Examples of Control Systems
18 Examples of Control Systems
19 Examples of Control Systems
20 Examples of Modern Control Systems
21 Examples of Modern Control Systems (a) Automobile steering control system. (b) The driver uses the difference between the actual and the desired direction of travel to generate a controlled adjustment of the steering wheel. (c) Typical directionof-travel response.
22 Examples of Control Systems
23 Examples of Modern Control Systems Open-loop & Closed-loop Models of Blood Glucose Control System
24 Examples of Control Systems A Model of Heart Rate Control System
25 Examples of Modern Control Systems
26 Examples of Control Systems
27 Examples of Control Systems
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