Слайд 1LECTURE 1
dr inż. Adam Kurnicki
Automation and Metrology Department
Room no E210
AUTOMATICS
and AUTOMATIC CONTROL
Слайд 2Lecture content
Introduction to automatics – short history, control system and
related nations, classification of control systems
System models – differential equations,
state equations, Linearization of models, Laplace transform, transfer function
Time responses – impulse and step response
Frequency responses – Nyquist plot, Bode plots
Basic dynamics elements – first order system, integrator, differentiator, second order systems, systems with delay
Structure of control system – examples of control systems, description of closed-loop systems
Closed loop system stability – Hurwitz criterion, Nyquist criterion
Quality of control – analyses of steady state, method based on roots placement, method based on integral indices
Compensators and regulators - PID controller
PID controller parameters tuning – Ziegler-Nichols methods, Chien, Hrones and Reswick methods
Слайд 3Automatics derives from Greek word automatos, "acting of one's own
will, self-acting, of itself," made up of two parts, auto-,
"self," and -matos, "willing,"
Automatics (offen called control or automatic control engineering) field of technology and science, which deals with issues of control of various processes, mainly technological and industrial (usually without the participation or with a limited participation of human being).
Introduction to Automatics and automatic control
Слайд 4
Control - is any intentional impact (action or series
of actions) on the object (the technological process) in such
a way as to achieve the intended objectives
Introduction to Automatics and automatic control
TERMINOLOGY
System is any collection of interaction elements for which
there are cause and effect relationships among the variables
Слайд 5Controlled variables - these are the variables which
quantify the performance
or quality of the final product,
which are also called output
variables.
The desired reference signal (input signal or set-point) when performing control is the desired output variable (that might deviate from actual output)
Disturbance variables - these are also called "load"
variables and represent input variables that can cause the
controlled variables to deviate from their respective set
points.
Introduction to Automatics and automatic control
TERMINOLOGY
Слайд 6Introduction to Automatics and automatic control
OPEN LOOP / CLOSED LOOP
SYSTEMS
The open-loop system is also called the non-feedback system -
the system does NOT measure the actual output and there is no correction to make that output conform to the desired output
An open-loop system cannot compensate for any disturbances that add to the controller’s driving signal or to the process output
Слайд 7Introduction to Automatics and automatic control
OPEN LOOP / CLOSED LOOP
SYSTEMS
The closed-loop system is also called the feedback system -
the system includes a sensor to measure the output and uses feedback of the sensed value to influence the control input variable.
The closed-loop system can compensate for disturbances by measuring the output, comparing it to the desired output, and driving the difference toward zero.
Слайд 8A blind person driving a car: open loop control
Driving a
car by using vision: feedback control
In the first case driver
does not have much information about the current position of the car with respect to the road.
In the second case the driver can steer the car back to the desired position despite bumps, wind and other uncontrollable effects.
Introduction to Automatics and automatic control
OPEN LOOP / CLOSED LOOP SYSTEMS
Example:
Слайд 9
Central heating system in house/room:
without temperature sensor - open loop
control
with temperature sensor – closed loop control
Washing machine (open loop
control) :
There is no sensor to measure how dirty is laundry
Introduction to Automatics and automatic control
OPEN LOOP / CLOSED LOOP SYSTEMS
Example:
TRAFIC LIGHTS (open loop control) :
That system don’t control traffic according to crowd
Слайд 10HİSTORY
Automatic control systems were first developed more than two thousand
years ago.
The first feedback control device on record is thought
to be the ancient Ctesibios's water clock in Alexandria (3rd century BC).
Слайд 11 Ctesibios's water clock
It kept time by regulating the water level in
a vessel and, therefore, the water flow from that vessel.
This
certainly was a successful device as water clocks .
Слайд 12HİSTORY
In the 17th and 18th centuries were popular in
Europe, automata equipped with dancing figures that repeat the same
task over and over again
Temperature regulator (invented in 1624 )
Pressure regulator ( invented in 1681)
Слайд 13HİSTORY
James Watt fly-ball governor
Rotational velocity stablilization of the steam engine
– 1769
Reduced steam flow – reduced pressure on the
blades of the engine turbine
Слайд 141868 Governor control analysis (Maxwell)
1927 Telephone amplifier analysis (Bode
- frequency domain analysis)
1932 Stability analysis (Nyquist)
1940
Autopilots, radar, etc.
1952 Machine tool numerical control (MIT)
1970 State variable models, optimal control
1983 personal computers
HİSTORY
Слайд 15CLASIFICATION OF CONTROL SYTEMS
The classification can be carried out in
many different ways, by taking into consideration various properties of
the system
1. With respect to the number of controlled variables:
single-variable control system - SISO
multi-variable control system - MISO, MIMO
Слайд 16CLASIFICATION OF CONTROL SYTEMS
2. With respect to the task performed
by the system:
Systems of stabilization
The purpose of these
systems is to keep the controlled quantities at a given (desired) level.
In the stabilization systems the reference value is well known and constant
Typical applications: stabilization of: liquid level, temperature in the room, motor speed, etc.
Слайд 17CLASIFICATION OF CONTROL SYTEMS
2. With respect to the task performed
by the system:
Programmed control systems
The purpose of these
systems is to change the controlled quantitiy according to the time function given.
In these systems the reference value is well known, but it is changing according to the time function given
Typical applications: CNC machine tools (milling machine, lasers, lathes) where the movement of the tools (cutters, turning tools) should be controlled by a programmed controller in order to receive an article of desired shape.
Слайд 18CLASIFICATION OF CONTROL SYTEMS
2. With respect to the task performed
by the system:
Tracking systems (also called follow-up systems)
The
purpose of these systems is to change the magnitude of the controlled quantity according to an unknown time function of reference value (stochastic values of reference).
In these systems, the reference value is not known and varies stochastically
Typical application: anti-aircraft radar system
Слайд 19CLASIFICATION OF CONTROL SYTEMS
2. With respect to the task performed
by the system:
Systems having more complicated tasks:
- extremal
systems,
- optimal systems,
- adaptive systems.
Слайд 20CLASIFICATION OF CONTROL SYTEMS
3. With respect to the instants of
supervision:
Continous-time control systems
Discrete-time control systems
In a continuous-time
control systems changes in control signals are generated in a continuous-time way. This signals will have some values at every instant of time (they are also called analog signals)
Слайд 21CLASIFICATION OF CONTROL SYTEMS
In a discrete-time control systems changes
in control signals are generated only in some periodically repeating
instants of time, which are called the sampling intants. This signals are also called impulses or digital signals).
Слайд 22CLASIFICATION OF CONTROL SYTEMS
4. With respect to the possibility of
application of the superposition principle :
Linear systems
Nonlinear systems
For
linear systems the so called superposition principle can be used, according to which the reaction of the system to a sum of two (or more) inputs equals to the sum of reactions to each of the inputs separately.
These systems can be described by linear differential equations.
For nonlinear systems the superposition principle does not hold