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Plant
u(t)
e(t)
y
m
(t)
Sensor
Feedback control
Need to measure systemoutput
6 November 2012 29 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Feedback and feedforward control Feedback and feedforward control
n(t) FF control
FB control
y(t) r(t)
Plant
e(t)
y
m
(t)
+
+
Sensor
y
m
(t)
This combined control scheme is widely used in
i d t industry
6 November 2012 30 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Hierachy control Hierachy control
Decentralized control
Di t ib t d t l Distributed control
6 November 2012 31 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Hierachy control Hierachy control
Example: SCADA (Supervisory Control And DataAcquisition) Example: SCADA (Supervisory Control And DataAcquisition)
6 November 2012 32 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Beer making process Beer making process
Chit chai
6 November 2012 33 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Control system clasification Control system clasification
6 November 2012 34 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Control system classification Control system classification
C i All i l i h i Continuous system: All signals in the system are continous.
Discrete system: There exists discrete signals in the system
Linear system: The systemsatisfies the superposition Linear system: The system satisfies the superposition
principle.
Nonlinear system: The system dont satisfies the y y
superposition principle.
Time Invariant System: Parameters of the system dont
change over time change over time.
Time Varying System: Parameters of the system change over
time.
SISO system: Single Input Single Output system
MIMO system: Multi-Input Multi-Output system
6 November 2012 35 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
History of control theory History of control theory
Classical control
Modern control
Intelligent control
6 November 2012 36 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Classical control Classical control
Mathematic models used in analysis and design control Mathematic models used in analysis and design control
systems are transfer functions.
Features:
Simple, easy to understand
Advantages: easy to apply to analysis and design SISO
li ti i i t t linear time invariant system.
Frequency domain techniques.
Analysis and design techniques: Analysis and design techniques:
Root locus.
Frequency response: Nyquist, Bode. q y p yq ,
Controllers:
Lead lag controllers
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PID(Proportional Integral Derivative)
H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Modern control Modern control
Mathematical model sed in anal sis and design is mainl the Mathematical model used in analysis and design is mainly the
state-space equation.
Features: Features:
Can be applied to nonlinear systems, time varying
systems, multiple input- multiple output system. y p p p p y
Time domain technique
Analysis and design method:
Optimal control.
Adaptive control.
Robust Control
Controller:
6 November 2012 38
State feedback controller
H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Intelligent control Intelligent control
In principle, mathematic models are not required in design
intelligent control system.
F t Features:
Simulate / emulate biological intelligence system.
The controller is capable of processing uncertain The controller is capable of processing uncertain
information, learning, and handling large amounts of data
Intelligent control techniques: Intelligent control techniques:
Fuzzy Control
Neural Networks Neural Networks
Genetic Algorithm
6 November 2012 39 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Course objective Course objective
Th F d l f C l S i l The course Fundamental of Control Systems mainly
presents the classic method for analysis and design
of SISO linear time invariant systems.
The knowledge gained from the course help student
to analyze and design control systems at the
executive level.
6 November 2012 40 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Related courses Related courses
T b bl t d i th t l t t th To be able to design the control system at the
implementation level, in addition to knowledge of
automatic control theory a designer needs to master the automatic control theory, a designer needs to master the
relevant knowledge, such as:
Circuits Electronic circuits Circuits, Electronic circuits
Industrial Measurement
Digital system Microprocessor Digital system, Microprocessor
Computer based control system, ...
6 November 2012 41 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Applications of control systems Applications of control systems
6 November 2012 42 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Applications of control theory Applications of control theory
Feedback control can be found in many applications: Feedback control can be found in many applications:
Production system: cement plants, sugar mills, ....
Industrial processes: temperature, flow, pressure, speed, ... dust a p ocesses te pe atu e, o , p essu e, speed,
Mechatronics: robot arms, computer numerical control
(CNC), ...
Information systems
Power generation and transmission
Transportation s stems cars trains aircraft spacecraft Transportation systems: cars, trains, aircraft, spacecraft, ...
Military equipments
Measurement Measurement
Home appliances: air conditioners, televisions, refrigerators,
washing machines, cameras, rice cookers, ...
6 November 2012 43
Medical equipments
H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Temperature control Temperature control
Temperature control plays an important role in many
manufacturing systems: production of cement, ceramic tiles,
pulp and paper rubber and plastic oil and gas food and pulp and paper, rubber and plastic, oil and gas, food and
beverage,
Cement factory Paper factory
6 November 2012 44 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Examples of temperature control Examples of temperature control
A i lt l d t d i t ( ff h t Agricultural product drying system (coffee, cashew nut,
black pepper,)
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Agricultural product drying system
H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Block diagram of a temperature control system Block diagram of a temperature control system
Controller
Power
amplifier
Heater
Differential
amplifier
p
amplifier
Measurement
6 November 2012 46 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
4.7k 4.7k
VCC
4.7k 4.7k
Temperature controller and user interface Temperature controller and user interface
1k
D6
LED 7DOAN
1457
1k
PORTD<6>
Q2
A1015
Q3
A1015
PORTD<4>
1k
1k
Q1
A1015
PORTD<5>
Q4
A1015
PORTD<7>
. . . .
LED_7DOAN
457
V
C
C
1
A F
V
C
C
2
V
C
C
3
V
C
C
4
GC D
O
T
D EB
DOT
2 3 89 1
0
1
1
1
2
6
A F GC DD EB
G
C
E
D
VCC
VCC F
A
B
D
SW4 A
V_sensor
G
F
B
VREF+
SW4
10k
E
PIC16F877A
2
3
4
5
6
7
33
34
35
36
37
38
39
40
1
RA0/AN0
RA1/AN1
RA2/AN2/VREF-/CVREF
RA3/AN3/VREF+
RA4/T0CKI/C1OUT
RB0/INT
RB1
RB2
RB3/PGM
RB4
RB5
RB6/PGC
MCLR*/VPP
DOT
10k
C
SW5
SW2
SW3
PORTD<5>
10MHz
C16
33p
SW3
SW4
PORTD<6>
PORTD<4>
G
SW1
SW2
7 40
15
16
17
18
23
24
25
26
19
20
21
22
27
28
29
30
13
8
9
RA5/AN4/SS*/C2OUT RB7/PGD
RC0/T1OSO/T1CKI
RC1/T1OSI/CCP2
RC2/CCP1
RC3/SCK/SCL
RC4/SDI/SDA
RC5/SDO
RC6/TX/CK
RC7/RX/DT
RD0/PSP0
RD1/PSP1
RD2/PSP2
RD3/PSP3
RD4/PSP4
RD5/PSP5
RD6/PSP6
RD7/PSP7
OSC1/CLKIN
RE0/RD*/AN5
SW2
SW3
PORTC<2>
PORTD<7>
6 November 2012 H. T. Hong - HBK TPHCM 47
10MHz
CRYSTAL
VCC
SW1
C17
33p
SW1
14
32
11
31
12
9
10
OSC2/CLKOUT
VDD
VDD
VSS
VSS
RE1/WR*/AN6
RE2/CS*/AN7
Temperature measurement using thermocouple Temperature measurement using thermocouple
5V
U2
71
5V
5V
U1
LM35
1
V
C
C
2
C1
10uF
-
+
OP07
3
2
6
48
5
5V
5
35
2
G
N
D
VOUT
V
V2
R1
25k
0
0
- 5V
-
+
U4
OP07
3
2
6
71
5V
5V
-
+
U5
OP07
3
2
6
71
R5
PA0/ ADC0
3
G
V3
Vout
OP07
48
5V
R6 R2
J 1
Thermo couple
1
+
U3
3
6
71
OP07
48
- 5V
- 5V
R4
1.8k
100
V1
R3
C2
10uF
3.9k 100
1
- 5V
-
OP07
2
6
48
V1
R3
100
0
6 November 2012 H. T. Hong - HBK TPHCM 48
0 0
0
Power circuit Power circuit
+12V
6
Heater FUSE R3
470
220Vac
0Vdc
Q2
BTA16
Q1
R1
U15
MOC3020
1
2
4
PORTC<2>
Q2SC1815
47k
R2
330
6 November 2012 H. T. Hong - HBK TPHCM 49
An industrial temperature control system An industrial temperature control system
Temperature
controller
Furnace
6 November 2012 50
Thermocouple
H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Motor control Motor control
Motors (DC AC) are one of the most common actuators used Motors (DC, AC) are one of the most common actuators used
machinery and manufacturing factory.
Three basic control problems: speed control, position control,
torque control
6 November 2012 51 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Antenna position control Antenna position control
Potentiometer
Antenna
(t)
i
(t)
Azimuth
angle
output
Desired
azimuth angle
input
o
(t)
Differential amplifier
output
Potentiometer
Motor
and power amplifier
6 November 2012 52 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Analog PID Analog PID control of DC motor control of DC motor
6 November 2012 53 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Digital PID control of DC motor Digital PID control of DC motor
6 November 2012 H. T. Hong - HBK TPHCM 54
An industrial DC motor control system An industrial DC motor control system
DC Motor
E d Encoder
DC Driver
6 November 2012 55 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Level control Level control
f Level control can be found in industrial processes such
as food and beverage, waste water treatment,
Level control, flow control
Sensor:
Level sensor: presure sensor, capacitor sensor, ultra
sonic sonic
Flow sensor: ultra sonic
6 November 2012 56 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Level control system in industry Level control system in industry
LC
LV LV
LT
Li id t k Liquid tank
LC: Level Controller
LT: Level Transmitter
6 November 2012 57 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
LV: Level Valve
Pulp concentration control Pulp concentration control
6 November 2012 58 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Pitch angle control Pitch angle control
6 November 2012 59 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Block diagram of pitch angle control system Block diagram of pitch angle control system
6 November 2012 60 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
CNC diagram CNC diagram
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Block diagram of CNC control system Block diagram of CNC control system
6 November 2012 62 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Distillation Process Distillation Process
6 November 2012 63 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Steam Steam Power Generator Power Generator
6 November 2012 64 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Review of complex Review of complex pp
variables and matrix theory variables and matrix theory
6 November 2012 65 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Review Review
C l i bl A di B F db k C t l f Complex variables: Appendix B, Feedback Control of
Dynamic Systems, Franklin, Powell, and Emami-Naeini, 6th
ed Prentice Hall 2009 ed., Prentice Hall, 2009
Matrix theory: Appendix C, Feedback Control of Dynamic
Systems Franklin Powell and Emami Naeini 6th ed Systems, Franklin, Powell, and Emami-Naeini, 6th ed.,
Prentice Hall, 2009
6 November 2012 66 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/