TecnoCampus Foundation
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General information

Subject type: Mandatory

Coordinator: Joan Triadó Aymerich

Trimester: Third term

Credits: 4

Teaching staff: 

Salvador Alepuz Menendez

Teaching languages

  • Catalan

Skills

Specific skills

  • CE12: Knowledge of the fundamentals of automation and control methods.

Description

This course is a first introduction to automatic control and feedback systems.

It includes the modeling of linear systems in the form of transfer functions in the Laplace domain and their representation with block diagrams and signal flow graphs. It also includes the study of the time and frequency response of these systems, the analysis of stability and the design of PID type controllers.

The classroom (physical or virtual) is a safe space, free of sexist, racist, homophobic, transphobic and discriminatory attitudes, either towards students or towards teachers. We trust that together we can create a safe space where we can make mistakes and learn without having to suffer prejudice from others.

 

Contents

1. Characteristics of Control Systems. Mathematical models of Linear Systems. 

1.1 Automatic Control Systems. Basic terminology: open loop, closed loop, error, controller, control action, reference, sensor, actuator ...

1.2 Mathematical Models of Systems

1.2.1 Linear differential equations with constant coefficients,

1.2.2 Laplace Transform, Transfer Functions,

1.2.3 Nonlinear systems and linearization of nonlinear systems.

1.3 Block diagrams, simplification of block diagrams, signal flow graph, Mason formula ... Examples: Mechanical, electrical, motor systems, tank systems.

2. Temporary response.

2.1 First order systems,

2.2 Second order systems, higher order systems.

2.3 Temporary response specifications.

3. Study of the error. Static error coefficients.

3.1 Study of the dynamic error of a closed loop system.

3.2 Type of system. Open loop transfer function.

3.3 Static error coefficients.

4. PID type controllers. Operating indices. (Internships)

4.1 PID type controllers: Proportional control, integral control, derivative control, PI, PD and PID.

4.2 Error-based operating indices (ISE, ITSE, IAE, ITAE)

4.3 Tuning method. Empirical tuning, in closed loop and in open loop. Tuning tables.

5. Stability of closed loop systems.

5.1 Concept of stability. Stability and plan s.

5.2 Geometric Place of Roots (LGA) Method. Drawing of the LGA. Module condition and angle condition. Other rules. Design with LGA according to time specifications. 

5.3 Design of PID controllers with the LGA

5.4 Frequency methods. Drawing and interpretation of Bode and Nyquist diagrams. Frequency response and stability.

5.5 Design of PID controllers with Frequency Response.

Evaluation system

The final grade (QF) of the subject is calculated as follows:

QF = EX 0,7 + P 0,3

where EX = Ex1 0,3 + Ex2 0,7

Ex1 and Ex2: exams

Q: internships

Minimum grades required to pass the subject:

EX: 3,0

P: 4,0

 

The grade of the EX activity must be equal to or higher than 3,0 to be able to average with the other assessment activities. If this minimum score is not achieved, the subject will be suspended.

In case the grade of activity P is lower than the corresponding minimum mark, P = 0.

If the subject is not passed in the ordinary assessment, there will be an extraordinary recovery session for the Ex1 and Ex2 activities in a single exam. The grade of this recovery will replace that of the EX activity within the evaluation of the subject. Activity P is not recoverable.

REFERENCES

Basic

Dorf, Richard C. - Bishop, Robert H. Modern Control Systems. 10ª. Pearson - Prentice Hall, 2005. ISBN 8420544019.

Ogata, Katsuhiko. Modern Control Engineering. 5ª. Pearson - Prentice Hall, 2010. ISBN 9788483226605.

Roca, Miquel. Compilation of PID Tuning Tables.

Complementary

Ogata, Katsuhiko. Control Engineering Problems. 1ª. Prentice Hall, 1998. ISBN 9788483220467.