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Ky Thuat Dieu Khien Tu Dong Chuong 1 - English PDF
Ky Thuat Dieu Khien Tu Dong Chuong 1 - English PDF
Subject:
Control System Technology
▪ Introduction
▪ Fundamental definitions
▪ Control system
▪ Rules of control
Whereas:
r(t): input signal, (reference input), set-point value
y(t): output signal, control variable / quantity, real value
yht(t): feed-back signal
e(t): error signal
u(t): control signal
z(t): disturbance signal
- Initial position: 00
- Desired position: 300
- Motor: 10/second (rated voltage)
In order to execute a desired motion, the controller output a pulse signal during
30 seconds.
If motor works correctly, position of antenna is stopped at 30 0 precisely.
- Initial position: 00
- Desired position: 300 ( xd)
- Motor: 10 /sec (rated voltage vs)
- Angular sensor: 10V / 3600
( xa)
vs xa xd
vc = if
0 xa xd
vc = C(xd xa)
Examine the movement of table if it moves from 0.4 m (initial position) to right
side at 0.64 m. Assume that sampling time (feed-back) is 0.1 second.
G1 = 2 G1 = 2.5
T (s) Vi (V) Vf (V) Ve (V) P (mm) Pos (mm) T (s) Vi (V) Vf (V) Ve (V) P (mm) Pos (mm)
2.5 2.5 0 0 400 2.5 2.5 0 0 400
0.0 4 2.5 1.5 0 400 0.0 4 2.5 1.5 0 400
0.1 4 2.5 1.5 2.250 402.250 0.1 4 2.5 1.5 2.813 402.813
0.2 4 2.514 1.486 2.229 404.479 0.2 4 2.518 1.482 2.779 405.592
0.3 4 2.528 1.472 2.208 406.687 0.3 4 2.535 1.465 2.747 408.339
0.4 4 2.542 1.458 2.187 408.874 0.4 4 2.552 1.448 2.715 411.054
0.5 4 2.555 1.445 2.167 411.041 0.5 4 2.569 1.431 2.683 413.737
: : : : : : : : : : : :
60.0 4 3.995 0.005 0.008 639.157 48.0 4 3.995 0.005 0.01 639.163
This system is able to compensate the error before the disturbance actually
affect on output signal. It is applied if:
-The characteristics of target control is determined completely
-The external disturbance affecting on target control is checkable and
measurable.
-The controller uses measured signal of disturbance to calculate the control
signal u(t)
This system is able to reject the effect of disturbance that is unknown or un-
measurable. It is applied if:
-The characteristics of target control is not determined completely
-The external disturbance affecting on target control is not checkable and
measurable.
-The controller uses error signal between input and output signal to compute
the control signal u(t), adjusting signal to reduce the error
It is applied if:
-The target control is complex, system parameters are sensitive to fluctuate
under environmental effect
-Multi targets are not only controlled simultaneously, but also guarantee to
satisfy the requirements
Open-loop system:
Closed-loop system:
➢ Feed-back scheme
• Not use open-loop system
• Use closed-loop system
➢ Signal type
• Continuous analog system
• Discrete digital system
➢ Adjusted value
• Less change Regulator system
• More change Follow-up system
➢ Location of controller
• At control center room centralized control system
• Near sensors and actuators distributed control system
➢ Others
• Servo mechanism
• Sequence control
▪ In event
▪ In time
• Programmable controller
Digital controller
- is designed by digital signal processing circuit
- signal is updated into pulse
The sequence control system executes the series of actions that are determined in
advanced
PhD. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn
Servo Mechanism
Servo mechanism is a feedback control system whereas the controlled target is position
(or motion).
Pick-and-place robot
Manufacturing cell
Bánh răng
Xy lanh
Dầu ép truyền
lực
Van điều khiển
Động cơ Tải
Nhiên liệu
Van nhiên liệu
Hệ thống điều
khiển tốc độ
(bằng điện)
Tải
Động cơ Tachometer
Chất B
Van
Chất A
Bộ điều
khiển
Chất C
Bộ đo nồng độ
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