General information


Subject type: Mandatory

Coordinator: Julián Horrillo Tello

Trimester: Third term

Credits: 4

Teaching staff: 

Salvador Alepuz Menendez

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.

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

This subject has methodological and digital resources to make possible its continuity in non-contact mode in the case of being necessary for reasons related to the Covid-19. In this way, the achievement of the same knowledge and skills that are specified in this teaching plan will be ensured.

The Tecnocampus will make available to teachers and students the digital tools needed to carry out the course, as well as guides and recommendations that facilitate adaptation to the non-contact mode.

Learning outcomes


At the end of the course, the student: 

  1. Analyzes and designs industrial control and automation systems. (CE12)
  2. Properly uses modeling and simulation tools. (CE12)
  3. Write texts with the appropriate structure for communication objectives. Introduce the text to an audience with the right strategies and means. (CE10, CE11, CE12)
  4. Get to know and put into practice the way and dynamics of teamwork. . (CE10, CE11, CE12)
  5. Identifies one's own information needs and uses the collections, spaces and services available to design and execute searches appropriate to the subject area. (CE10, CE11, CE12)
  6. Carry out the tasks assigned based on the basic guidelines given by the teacher, deciding the time to be used in each section, including personal contributions and expanding the sources of information indicated. (CE10, CE11, CE12)
  7. Know a third language with an appropriate level, both orally and in writing. (CE10, CE11, CE12)

Working methodology


This subject consists of three hours a week of face-to-face classes in the classroom and two fortnightly hours of laboratory practice.

The presentation of the theoretical concepts and the resolution of exercises will alternate in the classroom. In the lab students will work in groups of two or three people. Students will have documentation to follow the subject: solved exercises and practice script.

Students will have to dedicate additional non-contact time to the study, resolution of exercises, previous works and reports of the practices, as well as to the preparation of the written tests.

 

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.

Learning activities


Learning activities

Written test −EX− (contents of the whole syllabus and practices).

Laboratory practices −P− (contents of the whole syllabus).

 

Evaluation system


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

QF = EX 0,7 + P 0,3

Minimum grades:

EX: 3,0

P: 4,0

 

In case the EX grade is below the corresponding minimum grade, QF = EX.

In case the grade P is below the corresponding minimum grade, P = 0, and the final grade of the subject QF will be limited to 5,0.

There will be a laboratory exam that will be worth 30% of the P grade. 70% of the P grade is made up of the final report of all the practices and work done in the lab.

Extraordinary recovery of activities EX (exam) and P (exam and practice reports) will be scheduled for those students who have not passed the subject in the ordinary assessment. The qualification of this recovery will replace to the one of the activities EX and P inside the evaluation of the asignatura, whenever it is upper. In case of performing the recovery session, the final QF rating will be limited to 6,9.

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.