Automation Lecture 1
of 30
Transcript of Automation Lecture 1
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Automation
Kucsera Pter
[email protected] or B215
mailto:[email protected]:[email protected] -
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Course Goals
Look over what you learned in Automatika 1.
Learn the terminology of Automation
Practise English
Use the terminology and speak!
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Class schedule: Hours:
Introduction. Review the theoretical background of closed loop control.
Structure of a control system, signals and basic control blocs. Standard test
signals..2
Transfer functions of a feedback loop. Time domain response of a feedbackloop. Steady state error, overshoot
2
Stability of a closed loop system. Stability examination. 2
Structure of a classical PID controller. Tuning controllers. Multi loop
systems. Cascade controller..
2
Basic concepts of Process automation. Process automation problems 2
Structure of a process automation system. Used equipments, 2
Review of the basic sensors and actors. 2
Industrial buses (eg. MODBUS, INTERBUS, ASI BUS,
) 2
Automatic control systems, PLC sytems. PLC categories 2
PLC programming (Ladder, FB, SFC, CFC) 2
Fail Safe control 2
Integrated control system. Review of the whole semester. 2
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Basic concept of a control system
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Open loop control
A characteristic of the open-loop controller is that it doesnot use feedback to determine if its output has achievedthe desired goal. This means that the system does notobserve the output of the processes that it is controlling.
http://en.wikipedia.org/wiki/Feedbackhttp://en.wikipedia.org/wiki/Feedback -
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Closed loop control
In a closed-loop control system, the output of theprocess (controlled variable) is constantlymonitored by a sensor. The sensor samples thesystem output and converts this measurement intoan electric signal that it passes back to thecontroller. Because the controller knows what thesystem is actually doing, it can make anyadjustments necessary to keep the output where it
belongs.
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Systems and Modelling
Time domain
Frequency domain
Proportional
Integral
Derivative
PT1 PT2
Dead time
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Transfer functions
A transfer function (G) is a mathematical
relationship between the input and output of a
control system component. Specifically, the
transfer function is defined as the output dividedby the input.
)(tx )(ty
)( jx )( jy)(
)()(
jx
jyjG
)(
)(
)( tx
ty
tG
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Time Domain Block Representation
)()(
..)(
)()(
..)(
0101 txbdt
tdxb
dt
txdbtya
dt
tdya
dt
tyda
m
m
mn
n
n
General form of the differential equation:
This equation gives the output signal as a result of any input signal.
x(t) y(t)
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Standard Test Signals
Step signal
Ramp signal
Dirac pulse
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Integral Block
x(t) y(t) )()( tuKdttdy
i
)()(
01 tub
dt
tdya
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Derivative Block
x(t) y(t)
dt
tduKty d
)()(
dt
tdu
btya
)(
)( 10
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PT1 Block
x(t) y(t)
)()()(
tuKtydt
tdyT p
)()()(
001 tubtyadt
tdya
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Dead-Time Block
x(t) y(t)
)()( 00 tTtubtya
)()( tp TtuKty
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Frequency domain block
representation
)(tx )(ty
)( jx )( jy
Fourier and inverse Fourier transformation
)()()(
jxdtetxtxF
tj
)()()()(1 txjdejxjxFj
j
tj
Kdttx )(The above is true if:)()(
)(
jx
jy
jG
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Bode diagram
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Nyquist diagram
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Proportional block
x(t) y(t)
pKjG )(
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Integral Block
x(t) y(t)
jTjG
i
1)(
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Derivative Block
x(t) y(t) jTjG d)(
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PT1 Block
x(t) y(t)
TjKjG
p
1
1)(
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Dead-Time Block
x(t) y(t)tTj
peKjG
)(
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Laplace Transformation
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Laplace transform
Rules of Laplace transform Laplace transform of standard signals
)()}({ sFtfL
)()}({ sFktfkL
)()()}()({ sGsFtgtfL
stL 1)}(1{
1)}({ tL
2
1)}(1{
s
ttL
)()()(})(
{ 0 ssFtfssFdt
tdfL t
)(1
})({
0
sFs
dttfL
)(lim)(lim0
ssYtyst
If pole of sY(s) are in the left half of the s-plane
the final value theorem: is available.
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Block diagram representation
Actuating path of signals and variables
One input and one output block represents the connection
between the the output and input signals or variables in
time or frequency domain
Summing junction
Take-off point (The same signal actuate both path)
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Connecting blocks
G1
G1 G2 G1G2
G2
G1
+G2
G1
G2
21
1
1 GG
G
fi sTsT 1
11
)1)(1(
)(2
1
1
1
1
21
21
21 sTsT
TTs
sTsT
A
Ts
sT
A
A
sTA
sTA
sTA
A
11
1
11
)1(
1
11
