Scribd Logo
Upload

Welcome to Scribd!

  • 102 views

    Lecture 1

    Uploaded by

    Anas W. Ata'a
    This document provides an overview of an automatic control course. It discusses some key topics that will be covered: 1) Controllers beyond PID controllers and handling model uncertainty since process models are never perfect. 2) Obtaining process models through system identification and dealing with nonlinear and multivariable models. 3) Designing controllers that ensure stability, performance and robustness for linear systems in both continuous and discrete time. 4) Examples of how automatic control can help reduce resource consumption through improved temperature control, fault detection, reducing production reject, and tracking optimal paths.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Lecture 1

    Uploaded by

    Anas W. Ata'a
    102 views9 pages
    This document provides an overview of an automatic control course. It discusses some key topics that will be covered: 1) Controllers beyond PID controllers and handling model uncertainty since process models are never perfect. 2) Obtaining process models through system identification and dealing with nonlinear and multivariable models. 3) Designing controllers that ensure stability, performance and robustness for linear systems in both continuous and discrete time. 4) Examples of how automatic control can help reduce resource consumption through improved temperature control, fault detection, reducing production reject, and tracking optimal paths.

    Original Description:

    Automatic control

    Copyright

    © © All Rights Reserved

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    This document provides an overview of an automatic control course. It discusses some key topics that will be covered: 1) Controllers beyond PID controllers and handling model uncertainty since process models are never perfect. 2) Obtaining process models through system identification and dealing with nonlinear and multivariable models. 3) Designing controllers that ensure stability, performance and robustness for linear systems in both continuous and discrete time. 4) Examples of how automatic control can help reduce resource consumption through improved temperature control, fault detection, reducing production reject, and tracking optimal paths.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    102 views9 pages

    Lecture 1

    Uploaded by

    Anas W. Ata'a
    This document provides an overview of an automatic control course. It discusses some key topics that will be covered: 1) Controllers beyond PID controllers and handling model uncertainty since process models are never perfect. 2) Obtaining process models through system identification and dealing with nonlinear and multivariable models. 3) Designing controllers that ensure stability, performance and robustness for linear systems in both continuous and discrete time. 4) Examples of how automatic control can help reduce resource consumption through improved temperature control, fault detection, reducing production reject, and tracking optimal paths.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    You are on page 1of 9

    R7003E A broad course in automatic control

    Reference

    Controller

    Control
    signal

    Process

    Controlled
    variable

    Some loose ends from elementary control courses:


    The controller
    Continuous time process and discrete time controller How to analyze
    A PID controller may not do the job Go beyond the PID

    The process model


    How to obtain a model System identification
    The model is never perfect How to handle model uncertainty
    The model may be nonlinear
    The model may be multivariable

    Lule University of Technology, Andreas Johansson

    Automatic Control R7003E, Lecture 1

    What should you know after the course?


    Sustainable development

    How Automatic Control can help reducing the consumption of resources

    Linear systems

    Be able to analyze linear systems, both continuous and discrete time w.r.t.
    Frequency response, time response, poles, stability

    Discrete time processes

    Know the advantages of discrete time process descriptions


    Be able to translate continuous time processes into discrete time and vice
    versa and understand how discrete time processes may be found through
    system identification

    Controller design

    Understand the basic principles that apply for good design of control
    systems, stability, performance, and robustness
    Apply these principles on simple controllers, e.g. PI, PD
    Dimensioning from state-space description

    Some prospects

    A glimpse of some of the problems and solutions that exist for multivariable
    and nonlinear systems

    Lule University of Technology, Andreas Johansson

    Automatic Control R7003E, Lecture 1

    What should you know before the course ?


    Assumed prerequisite courses:
    R0001E, R0002E or R0003E

    Linear systems
    Transfer function, poles & zeros, block diagram, Bode diagram, impulse response,
    step response, static gain,

    Control
    Feedback, steady-state error, the PID controller,

    Matlab for linear systems

    To prepare for the course


    Read and solve problems from
    [L] 2, 5.1-5.2, 5.5-5.6, 6.1 or
    [F] 3-3.4, 4.1.0, 4.3, 6.1-6.1.1

    Run the Matlab tutorial ltidemo


    Lule University of Technology, Andreas Johansson

    Automatic Control R7003E, Lecture 1

    How to pass this course


    Item
    Lab 1
    Lab 2
    Lab 3
    Project
    Exam

    Examination
    Demonstration
    Demonstration
    Written report
    Demonstration
    Written report
    Written exam in
    January

    Alternative
    Written report
    Written report
    No alternative
    Exams three times per
    year. Can often be
    taken at your home
    university

    Lule University of Technology, Andreas Johansson

    Automatic Control R7003E, Lecture 1

    Some hints
    If you finish Lab 1 & 2 on the scheduled lab occasion you will obtain the signature
    immediately, otherwise you must write a report
    Prepare well for these labs

    Lab 2 requires Matlab skills


    Brush up on those skills before the lab

    The project is a lot of work


    Start as soon as possible (i.e. after Lecture 12)

    Dont copy each others reports


    Cheating will be reported to the board of discipline without any prior warning

    The exam will be difficult


    But if you can solve the recommended problems then you can also solve the exam

    To get assistance
    My door (A3407) is almost always open
    You are welcome with questions and suggestions

    Form study groups and help each other


    Helping someone else is the most effective way to learn
    Lule University of Technology, Andreas Johansson

    Automatic Control R7003E, Lecture 1

    Example: Tank process with PID controller

    Tank
    process

    PID-controller

    1
    + TD s E ( s )
    U ( s ) = K 1 +
    TI s

    uP(k) = Ke(k)

    r(k)

    e(k) u (k) = KT /h(e(k)e(k1))


    D
    D

    uI(k) = uI(k1)+Kh/TIe(k)
    u(k) = uP(k)+uD(k)+uI(k)

    u(k)

    u(t)

    Hold

    K
    (sT +1)2

    y(t)

    Sampling

    Lule University of Technology, Andreas Johansson

    Automatic Control R7003E, Lecture 1

    What happens when the sampling period h increases ?

    Tank level

    Volt

    4
    2

    -2

    50

    100
    Control signal

    20
    Volt

    h=0
    h=1
    h=5
    h=10
    h=15

    0
    150

    200

    0
    -20

    50

    100
    Time (s)

    150

    Lule University of Technology, Andreas Johansson

    Automatic Control R7003E, Lecture 1

    Signals and systems


    Signal A function of time t
    Properties of signals:
    Continuous time The signal is defined for all real t
    Discrete time The signal is only defined for a countable number
    of discrete (separated) time instants
    Scalar The signal is a scalar function of time
    Vector valued The signal is a vector valued function of time
    Vector valued,
    continuous
    time signal

    Examples:
    Scalar, continuous
    time signal

    t
    Lule University of Technology, Andreas Johansson

    t
    Scalar, discrete
    time signal

    t
    Automatic Control R7003E, Lecture 1

    System A mapping S from an input u to an output y, i.e. y = Su


    Properties of systems
    Continuous time The input and output are continuous time signals
    Discrete time The input and output are discrete time signals
    Static The output at time t1 depends only on the input at time t1
    Dynamic The output at time t1 depends on the input at several time
    instants. The system has memory
    Causal The output at time t1 depends only on the input at times t t1
    Noncausal The output at time t1 depends on the input at time t > t1
    Static system

    Examples:
    u
    u(t)

    y1(t)

    y1(t) = 2u(t)

    y1
    1

    Dynamic system

    1
    1

    y2(t)

    y2 (t ) = u ()d

    y1

    Lule University of Technology, Andreas Johansson

    Automatic Control R7003E, Lecture 1

    More properties of systems


    Time invariant The mapping S does not depend on time t. If the input u
    gives the output y, then the input u, time shifted by , gives the output y,
    time shifted by
    Time varying The mapping S depends on time t
    Linear If the input u1 gives the output y1 and the input u2 gives the
    output y2 then the input u1+u2 gives the output y1+y2, i.e.
    S(u1+u2) = Su1+Su2
    Linear, static, timeNonlinear Not linear
    varying system
    Examples:
    1

    y3(t) = tu(t)

    u
    u(t)

    y3(t)

    y3
    1

    1
    1

    t
    u

    y4 (t ) =

    y4(t)

    u ()d

    y4

    Lule University of Technology, Andreas Johansson

    Dynamic, nonlinear,
    time-invariant system

    Automatic Control R7003E, Lecture 1

    The control problem


    Given: A system G, called process with
    inputs u (control signal) and w (disturbance)
    and outputs z (control variable) and y
    (measurement) with measurement error n
    Task: Design a system F, called controller,
    with input r (reference signal) and y and
    output u such that e = rz (control error)
    becomes as small as possible, despite
    disturbance w, measurement error n, and
    variations in the process G

    y
    r

    The regulator problem: r 0


    The servo problem r 0
    Single variable u and z are scalar signals
    Multi variable u and z are vector signals
    Lule University of Technology, Andreas Johansson

    Automatic Control R7003E, Lecture 1

    Discrete time systems


    Some systems where a discrete time description is suitable
    Aircraft position
    If the measurement is inherently discrete

    Radar sweep no.

    Aircraft monitored by radar

    k
    Industrial processes with chemical analysis

    Concentration

    Economic systems, e.g. an inventory

    Sales $/s

    Dirac pulses
    - Impractical

    Total sales
    Time each day

    t
    Lule University of Technology, Andreas Johansson

    Analysis no.

    k
    Day

    k
    Automatic Control R7003E, Lecture 1

    If the function of the system is cyclic or pulsed

    Amount of
    hot metal

    Tapping no.

    Blast furnace
    Thyristor controlled electric engine

    Energy
    to engine

    Energy
    to engine

    k
    AC pulse no.

    t
    Car engine, Internet, etc

    Thyristor
    turned on

    Roundtrip
    time

    Data package no.

    k
    Lule University of Technology, Andreas Johansson

    Automatic Control R7003E, Lecture 1

    Automatic control and sustainable development


    Use of automatic control has the potential to reduce consumption of
    resources by:
    Reducing safety margins
    Example: Temperature control in an empty building
    Temperature must not go below 0 C (freezing of water pipes)
    Improved control Reduced temperature variation Temperature setpoint can be
    decreased Reduced energy for heating

    Temp.
    5 C
    2 C
    Time

    Lule University of Technology, Andreas Johansson

    Automatic Control R7003E, Lecture 1

    Detecting malfunctions
    Example: Detecting a broken bearing in a conveyor belt
    Broken bearing gives increased energy consumption due to friction
    Estimate motor power using inflow on belt
    Compare to measured motor power
    If they differ, a bearing may be broken

    Inflow on belt

    Time
    Broken
    bearing

    Measured
    Motor power
    Estimated
    Time
    Bearing breaks
    Lule University of Technology, Andreas Johansson

    Automatic Control R7003E, Lecture 1

    Reducing reject in production


    Due to quality variation
    Example: Varying paper density in paper production
    Paper with density outside a certain interval can not be sold
    Improved control Reduced density variation Reduced reject Reduced
    consumption of wood

    Due to start/stop or setpoint changes


    Example: Same as above
    Improved control Faster startup and setpoint changes Reduced reject Reduced
    consumption of wood
    Unsellable paper
    Paper density

    g/m2

    80

    45

    Time
    Startup
    Lule University of Technology, Andreas Johansson

    Disturbance

    Setpoint change
    Automatic Control R7003E, Lecture 1

    Finding optimal paths


    Example: Rocket reaching a given altitude
    Required amount of fuel depends on how the thrust is varied
    Fuel used on low altitude High speed High air resistance
    Fuel used on high altitude Fuel must be carried to high altitude
    Engine thrust
    Max. thrust

    Optimal
    thrust function

    Altitude
    reached

    Time

    Suboptimal
    thrust functions

    An optimal thrust function can be calculated using Pontryagins maximum principle


    R7004E Nonlinear and optimal systems. Lp4, even years

    Lule University of Technology, Andreas Johansson

    Automatic Control R7003E, Lecture 1

    Tracking optimal paths

    Great circle
    -shortest path

    Example: Airplane navigation


    between two points
    To minimize fuel consumption, the
    airplane should follow a great circle
    Requires continuous changes in
    compass course Automatic control
    is necessary

    Lule
    Constant
    compass course
    Los Angeles

    Lule University of Technology, Andreas Johansson

    Automatic Control R7003E, Lecture 1

    You might also like

    pFad - Phonifier reborn

    Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

    Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


    Alternative Proxies:

    Alternative Proxy

    pFad Proxy

    pFad v3 Proxy

    pFad v4 Proxy