101321 - DIGITAL CONTROL OF SYSTEMS

Subject type: Mandatory

Coordinator: Julián Horrillo Tello

Trimester: Second term

Credits: 6

Malgrat que la llengua de comunicació de l'assignatura és el català, no es descarta l'ús d'altres llengües que el Tecnocampus, per normativa, accepta: l'anglès i el castellà. The student can use it without any restrictions.

This subject deals with the analytical study of physical system models, in the form of transfer functions and the application of closed-loop control to systems in order to meet temporal or frequency specifications, according to pre-established criteria. All this will be done through the design and incorporation of digital controllers.

It is recommended to have taken the subject of Industrial Control. 

At the end of the course, the student:

1. Is able to perform the analysis of complex physical systems. (CE26)
2. Construct mathematical models of scaled form from real systems. (CE25)
3. Design drivers based on user specifications or demands. (CE25, CE26)
4. Use digital simulators in the process of validating models and controllers. (CE25)
5. Know and use advanced techniques in process control. (CE26)

The subject consists of four weekly hours of sessions with the large group and two weekly hours of practical type, which will be done in the corresponding laboratories, with the small group. In the labs students will work in teams of two or three people.

The large group will work in the classroom where there will be expository sessions by the teacher and work sessions in partial groups and sharing.

Students will have documentation to follow the subject of the type: proposed and solved exercises, graphs and tables of specifications and user manuals of systems and programs.

Students will have to dedicate additional non-contact time, much longer than face-to-face, to the preparation of written and / or oral exercises, practices and tests that, sometimes, will have to be carried out jointly within a team with other people.

1-Introduction to the Analysis and Modeling of analog systems (continuous variable). Mathematical models. simulation

1.1 Modeling of electrical, mechanical and hydraulic systems.

1.2 Laplace transform.

1.3 Transfer functions of continuous variable systems.

1.4 Block diagrams. Signal flow graph. State transition graph.

1.5 Closed loop systems. Functional elements of the loop.

1.6 Linearization of nonlinear systems.

1.7 Dynamic systems analysis and simulation tools. Using the Matlab-Simulink environment.

2-Linear systems in discrete time. Mathematical models of discrete systems.

2.1 Counter systems. Ideal counter. Sampling theorem.

2.2 Systems with discrete time and discrete amplitude. Signal reconstruction. Zero order retainer.

2.3 Equations in differences. Transformed Z. Properties. Impulse transfer functions.

2.4 Blocks with counters in series.

2.5 Obtaining impulse transfer functions for closed loop systems.

3-Temporal response of systems in discrete time. CACSD Tools - Computer-Aided Control Systems Design.

3.1 Temporary response for discrete systems. CACSD tools.

3.2 Transformation of plane s to plane z.

3.3 Temporal specifications for discrete-time systems, correspondence between continuous and discrete systems, location of poles in the two planes for second-order systems. Case of higher order systems.

3.4 Static error for discrete closed-loop systems. Static error coefficients.

4-Study of the stability of systems in discrete time. Geometric location of the roots (LGA). Frequency methods .CACSD tools.

4.1 Stability analysis in the z plane.

4.2 Bilinear transformation. Pla w.

4.3 Analysis using the Geometric Root Site (LGA),

4.4 Frequency methods. Specifications in the frequency domain. Nyquist criteria. Work with and without Bilinear Transformation. Phase Margin and Gain Margin.

4.5 Design with the LGA Use of CACSD tools. Systems with pure delay, modeling for the discrete case. Stability.

5-Design of digital controllers

5.1 Design of advance and delay controllers for continuous systems and for discrete systems using the w plan, with frequency specifications. Calculations, according to specifications in permanent regime, of stability and of speed. For the case of advance, delay and PID; design procedures. For digital controllers, equivalence between difference equations and z-transfer functions.

5.2 PID type digital controller designs. Equations in differences and z-transfer functions of PID's according to different structures. Empirical tuning and analytical tuning, frequency type specifications, for stability.

5.3 Analytical drivers. Dust allocation controllers. When these drivers can be performed. Minimum Time Controllers.

5.4 Physical implementation of digital controllers using real-time data acquisition systems. Direct Digital Control.

Internships (small group)

Activity 1: P1 System modeling based on the experimental response of a physical system and the data obtained from the output of this system using an acquisition card with Matlab's Real Time Workshop. [Related to Competences CB5, and E25; Evidence of Learning Outcome 2].

Activity 2: P2 Digital control of systems. Application to the model obtained in P1. Implementation of different digital PID type structures, empirical tuning, study of changes in response according to Sampling Time. Use of a data acquisition and output card with the Matlab Real Time Workshop.[Related to Competences CB5 and E26 and YY; Evidence of Learning Outcome 1,3, 5 and XNUMX].

Activity 3: P3 Digital control of systems. Application to the same previous system, implementing in this case controllers designed by frequency methods: Advance / delay and analytical PID. Use of a data acquisition and output card with the Matlab Real Time Workshop.[Related to Competences CB5 and E26; Evidence of Learning Outcome 1, 3 and 5].

Activity 4: P4 Digital control of systems. Application to the same previous system, implementing in this case analytical type controllers: Dust Allocation and Minimum Time. Implementation of this controller with the Real Time Workshop and the data acquisition and output card.[Related to Competences CB5 and E26; Evidence of Learning Outcome 1, 3 and 5].

The practices are related to the theoretical contents of the subject, and aim to complement and reinforce the concepts and skills acquired in the theoretical part.

Activity 5: FIRST EXAM

Written test of evaluation of the contents developed in the subjects 1,2,3 and part of the 4. [Related to Competences CB5 and E25; Evidence of Learning Outcome 1, 3 and 4].

Activity 6: SECOND EXAM

Written test to evaluate the contents developed in topics 1,2,3, 4, 5 and practices. [Related to Competences CB5, E25 and E26; Evidence of Learning Outcome 1, 3, 4 and 5].

Activity 7: Autonomous learning exercises

Exercises to deliver; to make out of the ordinary sessions. [Related to Competences CB5, E25 and E26; Evidence of Learning Outcome 1, 3, 4 and 5].

Evaluation Conditions:

Final Grade = 0.7 Grade Exams + 0.2 Grade Internships + 0.1 Grade Exercises. This calculation must exceed or equal 5 to be able to pass the subject. 

Exam Score = Max (0.4 First Exam + 0.6 Second Exam, Second Exam)

To apply the final grade formula,

a) The Exam Grade must exceed 4. In case of not passing it, the Final Grade will be calculated according to: Final Grade = Exam Grade

b) the Note of practices has to surpass the 4. In case of not surpassing it, the Note of Practices happens to be the one of the total of the asignatura.

There will be a laboratory exam that will be worth 30% of the Practice Note.

Recovery exam: 70% of the final grade to replace the First and Second Exam. Internships can also be retrieved (Exam and reports)

Phillips, Charles L.; Nagle. Digital Control Systems. Analysis and design. Barcelona: Gustavo Gili, 1993. ISBN 9788425213359.

Franklin, Gene F .; Powell, J. David. DIGITAL CONTROL OF DYNAMIC SYSTEMS. 3a. Ellis-Kagle Press, 1998. ISBN ISBN13: 978-0-9791226-1-3.

Barambones, Oscar. Digital control systems. University of the Basque Country, 2004. ISBN 8483736411.

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

Astrom, Karl Johan; Wittenmark, Björn. Computer controlled systems. Prentice Hall, 1988.

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