NAME:

RAYMOND DEODATUS KYARA

REDISTRATION NUMBER:

2016-05-00201

COURSE PROGRAM:

PGD. EIT

CODE COURSE:

CS 521

COURSE UNIT:

3 UNITS

COURSE NAME:

CONTROL SYSTEM ENGINEERING I

INSTRUCTOR:

Dr. MASSAWE

1.
a) Toilet water tank
Sensing mechanismfloat
Actuation mechanism-when the water level goes down, the float goes down
which it opens the fill valve. As the water fills the tank, the float goes up & at
a certain point, closes the fill valve.
Control computationb) Cruise control
Sensing mechanism-whatever measures the speed in a car.
Actuation mechanism-solenoid driven throttle and brake?
Control computationc) Elevator
Sensing mechanism-sensors at each floor level.
Actuation mechanism-Sensors stop the elevator?
Control computationd) Climate control
Sensing mechanismthermometer
Actuation mechanism-on/off of compressor.
Control computatione) Toaster
One of the simplest and most common control systems you will find in any
kitchen is the simple toaster. One question that you may have asked yourself
at some point in your life is this: how does the toaster know when to pop
the bread and turn off the heating element? Well, it turns out there are at
least three methods. One method is simply to use a timer and pop the
bread after a predefined interval. One might consider this to be open-loop
control, as there really is no feedback involved. Another method is to

actually measure the surface temperature of the bread using a

thermocouple: two strips of different metals bonded together, so that when
they are heated or chilled they strain at differing rates and thus cause a
bending motion that can be used to trigger a physical mechanism to turn
off the toaster. Yet another method is to use a photovoltaic cell to sense the
intensity of the reflected light from the toast surface. Assuming the bread is
initially light color, one would expect a large amount of reflected radiation
from the heating elements. As the bread becomes darker and more welltoasted, more of the visible light will be absorbed into the test and less will
be reflected. The toaster then shuts off at some threshold. In each of these
cases, the amount of power used by the toaster is assumed to be constant;
so this type of controller can be referred to as a bang-bang controller:
that is, it is either on or off depending on the system state. Each of these
mechanisms are pretty crude: in the case of the timer, the length of time
needed to achieve the proper level of doneness is dependent entirely on
the operator; in the case of the thermocouple, the heating elements
themselves will have a substantial impact on the sensed temperature and
the porosity and thickness of the toast will greatly impact the surface
measurement; in the case of the photocell, the surfaces natural color
could impact the quality of toastedness: i.e., one might expect cinnamon
raisin wheat bread to be less toasted than bleached white bread.

f) A cars cruise control

Those of you who drive at least on occasion have probably used one of
these devices to maintain a constant speed on a highway. The main state
variable for this control system is the speed of the car, which is usually
measured through the speedometer (which is usually in turn connected to a
Hall Effect sensor that measures the RPM of the drive shaft). More modern
systems may use an inclinometer to account for the effect of hilly roads
and the amount of power required to maintain a constant speed. The
actuation mechanism is the vehicles throttle. The simplest control law is

often a PID (proportional-integral-derivative) controller on the error signal,

defined as the set point (or reference) speed minus the measured speed.
There are a couple drawbacks associated with this setup. One of these is
that the sensing mechanism assumes perfect traction between the tires
and the road, which is often not the case during a South Bend winter and
may under certain circumstances actually cause instability. The speed
measurements

are

usually

affected

by

tire

pressure,

introducing

measurement uncertainty. A tuned PID controller will also assume a

typical mass of the vehicle; the actual value will of course depend on its
passengers, cargo, fuel level, the foot of snow you were too lazy to shovel
off the roof, etc. The actual mass will affect damping, overshoot, and other
characteristics of the controller performance.
g) Thermostat
Another simple system is a basic forced-air heating system. A central
thermostat measures the room temperature: this is the sensing mechanism.
The controller then compares that value to the reference temperature (set
point), and then if the difference is larger than a threshold value the
furnace and blower are turned on. This is another example of a bang-bang
(on/off) controller. These systems often have a fair amount of oscillation,
due in large part to not simply the on/off nature of the controller, but the
relatively high thermal inertia of both air and objects in the rooms being
heated.
h) Yaw damper on an aircraft
Lying along the approach vector to South Bend airport, few days go by when
an aircraft will not be heard above Notre Dames campus. While most
aircraft are designed to be open-loop stable with good handling qualities,
many configurations benefit from stability augmentation. One extremely
common device used for stability augmentation is the yaw damper. Consider
the following aircraft with coordinate definitions as follows (from:
www.nuclearprojects.com):

Figure 1: Aircraft coordinate axes definitions

The black part of the vertical tail is referred to as the rudder, and primarily
controls the yaw of the aircraft (i.e. rotation about the Z-axis) with minor
coupling to the roll axis as well. A typical performance problem on large
aircraft is poor damping of the so-called Dutch-roll mode: coupling between
rolling and yawing of the aircraft that can be excited by gust disturbances
or normal control motions, resulting in an elliptical motion of the aircraft
C.G. in the Y-Z plane. While this mode is typically not considered unsafe
in cruise conditions, it is extremely uncomfortable to passengers and can
contribute to motion sickness. The low natural damping of this mode is
due to a high moment of inertia about the Z-axis relative to natural
weathercock stability provided by the vertical stabilizer. The damping of this
mode can be increased by active rudder control. This is accomplished by
attempting to drive the yaw rate of the aircraft to zero by using the
rudder (again, the black piece of the vertical stabilizer at the rear of the
aircraft), while maintaining a constant heading angle. The yaw rate
measurement is usually provided by either a mechanical gyroscope or MEMS
device that uses differential accelerometers. The control is usually provided
by a servo attached to the rudder (for large aircraft, it is usually

hydraulically driven; for small aircraft, it might be a conventional electric

servo). A PID control law is often used here. The uncertainty comes
primarily from various aircraft load outs, as was the case with cruise control
on a car. However, there may be more complex dynamics present such as
aero elasticity: the coupling of deformation with aerodynamic loads. Aero
elasticity can have a substantial affection Dutch roll performance, since
large deformations (on the order of a foot!) can be present in the wingtips
of large aircraft during typical loads and some torsion about the fuselage is
also typical (although it should be noted that positive wing deflections
typically will increase Dutch roll damping). Fuel slosh is also a bit of a
problem on large aircraft, since the fuel weight can easily be 30-40% of the
total takeoff weight of an aircraft and is distributed throughout the wings
and fuselage. Fuel slosh thus contributes to uncertainty in the Z-axis
moment of inertia that varies with time.
i) Laptop temperature regulator
Unless your laptop is exceptionally thermally efficient and can be passively
cooled, you likely have an internal cooling fan to regulate temperature.
Typically a laptop will have temperature sensors on the central processing
unit, graphics processor,

memory

chips,

and

sometimes

the north

bridge/south bridge chips. The fan will be situated to cool all of these
devices. The control law varies; sometimes it is a lookup table based on
the temperature of each component, sometimes it is continuous based on a
PID setup with the highest temperature as an input and the fan speed as
an output. Computer cooling typically has a two-tiered approach: a heat
sink is thermally bonded to each processing core to passively distribute
heat, and then a fan is used to cool the heat sink rather than the core
directly. Depending on the location of the temperature sensor, a large
temperature gradient could be present in the heat sink, resulting in
locally high temperatures in the core that could cause device latch up.
Lookup-table approaches are often better than PID approaches since the

thermal inertias of various components can be taken into account to

better regulate the core temperatures as a function of computational
load.
2.
Quality control systems (QCS)
The ANDRITZ quality control system delivers reliable and precise measurements
(profiles) of pulp sheet parameters.
The QCS is a smart processing center for processing information and delivering
reliable and precise measurements of sheet parameters, for example basis weight,
moisture, temperature or brightness out of the dryer. Data from the scanner is
processed and used for the cross and machine direction control. (ANDRITZ, 2016)

A general overview of QCS

The QCS consists of several measuring sensors, namely a basis weight sensor, a
microwave moisture sensor, a precision color sensor and a sheet temperature sensor.

Basis weight sensor

Following the principle of the radioactive transmission, more precisely the beta
absorption (prometium/krypton/strontium), to measure the mass per unit area
of moving web

A beta radiation source emits a stream of beta particles and as the particles
pass through the sheet, the fibers absorb some of them. The receiver collects
those particles that pass through the sheet and the amount of collected
particles gives information about the basis weight value

Extremely high signal to noise resolution ratio

Excellent streak resolution

Complete compensation for environmental sources of error

High speed of response

The QCS for paper board machines

Microwave moisture sensor

The sensor is a microwave transmission sensor

Following the principle that moisture in a sheet absorbs specific infrared

wavelengths while others are unaffected

Sensor measures the moisture content of a moving web by measuring the

microwave resonance changes that occur with moisture content changes

Provides accurate and high resolution measurement of moisture under all

environmental conditions

The QCS for tissue machines

Precision color sensor

Delivers accurate measurements of appearance qualities like brightness

Following the principle of reflectance measuring

The sensor receives spectra from two spectrophotometers at the same time to
deliver reflectance measurements of the same spot on sheet

Fluorescence measuring is given through merging the beams of two light

sources, a continuous daylight source and a pulsed UV-enrichment source

The air vortex sheet stabilizer is used to ensure a non-contacting, repeatable,

non-intrusive measurement

REFERENCE
ANDRITZ. (2016, November 4). Retrieved November 4, 2016, from ANDRITZ GROUP:
http://www.andritz.com