자동 제어 Sun Moon University 1 자동제어 개요 강의실 : 산 107 담당교수 : 고경철 ( 기계공학부 ) 사무실 : 산학협력관 105B 면담시간 : 수시 강의관련 :

자동 제어 Sun Moon University 2 자동제어 :

자동 제어 Sun Moon University 3 신호처리회로신호처리회로 센서센서 구동장치구동장치 구동회로구동회로 제어기제어기 사용자인터페이스사용자인터페이스 기계 분야 전기 전자 분야 컴퓨터 분야 제어 / 계측 대상 (PLANT) (PLANT) 제어 / 계측 분야 제어를 모르고는 기계공학을 말할 수 없다

자동 제어 Sun Moon University 4 Reference : 강의계획서 Obejctives - 기계 시스템 모델링과 제어이론 고찰 - 제어 시스템 개념 및 동특성 해석 - 산업용제어기의 종류 및 구조 - 제어기 설계방법 Text: [1] Norman S. Nise, Control Systems Engineering, Willey [2] 제어시스템공학 김도현외 5 인, 홍릉출판사 강의개요

자동 제어 Sun Moon University 5 평가방법 평가방법 : 점만정 : 출석 (10), Homework(20), 중간시험 (35), 기말시험 (35) - 등급기준 : A+:95, A:90, B+:85, B:80, C+:85, C:80, D+:70, D:60, F:50 미만 - 비고 > 출석 : 결석 1 시간당 –0.5 점, 12 시간이상결석시 F > HW: 총 14 회 예정 – 1 회당 10 점만점 - Due 지나면 –2 점 - 일주이상지나면 :0 점 - 표절 : 둘다 0 점 - 총 140 점을 20 점으로 환산

자동 제어 Sun Moon University 6 Figure 1.1 Simplified description of a control system

자동 제어 Sun Moon University 7 a. Early elevators were controlled by hand ropes or an elevator operator. Here, a rope is cut to demonstrate the safety brake, an innovation in early elevators; b. Modern Duo-lift elevators make their way up the Grande Arche in Paris, driven by one motor, with each car counterbalancing the other. Today, elevators are fully automatic, using control systems to regulate position and velocity. Figure 1.2 Elevators Photos courtesy of United Technologies Otis Elevator.

자동 제어 Sun Moon University 8 Figure 1.3 Rover was built to work in contaminated areas at Three Mile Island in Middleton, PA, where a nuclear accident occurred in The remote controlled robot’s long arm can be seen at the front of the vehicle. Photo © Hank Morgan/Rainbow/PNI.

자동 제어 Sun Moon University 9 (a) (b) (c) Figure 1.4 a. Video laser disc player; b. objective lens reading pits on a laser disc; c. optical path for playback showing tracking mirror rotated by a control system to keep the laser beam positioned on the pits. (c) Pioneer Electronics, Inc.

자동 제어 Sun Moon University 10 Figure1.5 Elevator input and output

자동 제어 Sun Moon University 11 Figure 1.6 Block diagrams of control systems: a. open-loop system; b. closed-loop system

자동 제어 Sun Moon University 12 Figure 1.7 Computer hard disk drive, showing disks and read/write head Courtesy of Quantum Corp.

자동 제어 Sun Moon University 13 Figure 1.8 The search for extraterrestrial life is being carried out with radio antennas like the one pictured here. A radio antenna is an example of a system with position controls. © Peter Menzel.

자동 제어 Sun Moon University 14 a. system concept; b. detailed layout; c. schematic; d. functional block diagram Figure 1.9 Antenna azimuth position control system:

자동 제어 Sun Moon University 15 Figure 1.10 Response of a position control system showing effect of high and low controller gain on the output response

자동 제어 Sun Moon University 16 Figure 1.11 The control system design process

자동 제어 Sun Moon University 17 Figure 1.12 Equivalent block diagram for the antenna azimuth position control system

자동 제어 Sun Moon University 18 Table 1.1 Test waveforms used in control systems

자동 제어 Sun Moon University 19 Figure P1.1 Potentiometer

자동 제어 Sun Moon University 20 Figure P1.2 Aircraft attitude defined

자동 제어 Sun Moon University 21 Figure P1.3 Winder © J. Ayers, 1988.

자동 제어 Sun Moon University 22 Figure P1.4 Control of a nuclear reactor

자동 제어 Sun Moon University 23 Figure P1.5 Grinder system © 1997, ASME.

자동 제어 Sun Moon University 24 Figure P1.6 High-speed proportional solenoid valve © 1996, ASME.

자동 제어 Sun Moon University 25 Figure P1.7 RL network

자동 제어 Sun Moon University 26 Figure P1.8 RLC network

자동 제어 Sun Moon University 27 Figure P1.9 High-speed rail system showing pantograph and catenary © 1997, ASME.

자동 제어 Sun Moon University 28 Table 1.1 Test waveforms used in control systems