Discrete control systems

Holders: Prof. Diaci Janez

Executants: Prof. Diaci Janez

Subject description

Prerequisites:

  • Mathematics (differential and integral calculus, sequences and series, complex numbers, Fourier series and integral, ordinary differential equations)
  • Physics (basic laws of mechanics, electricity and magnetism)
  • Electrical engineering (fundamental circuit elements (RLC), static in dynamic analysis of RLC circuits)
  • Test and measurement (sensors: physical principles of operation, mathematical models)

The execution of study obligations is defined in the Rules on testing and grading the knowledge of students at UL FS.

In order to pass and successfully execute the study obligations and participate in study work, the students are advised to regularly attend the lectures and exercises (at least 80 % presence), to prepare adequately for laboratory exercises and actively participate at the exercises. The condition for admission to exam is a passing grade for the exercises.

Content (Syllabus outline):

Introduction:

The basic characteristics of discrete control of continuous mechatronic systems; building blocks, structure and operation; types of discrete controllers; examples of use.

Mathematical models of systems: Elementary signals and systems, descriptions using differential or difference equations, convolution, application of integral transformations, transfer function.

Time-domain system analysis:

The response of building blocks to elementary signals, time-domain system specifications, relation to transfer function parameters.

Frequency-domain system analysis:

Harmonic signals and the response of building blocks thereto, calculating the frequency response from the transfer function and representing it graphically, frequency-domain system specifications.

Stability of control systems:

Definition, manifestation of instability, verification methods.

Control system design:

Characteristics of PID controllers, the root locus method, PID controller tuning.

Discrete controller implementation:

Selecting the sampling rate, direct and decomposition forms, realising control algorithms using microcomputers and microcontrollers, fixed and floating point arithmetic, nonlinear quantization error and simulating the effect thereof on the operation and performance of DCS, testing DCS.

Objectives and competences:

The course goal is to acquaint the students with the theoretical and practical foundations of closed-loop computer control of continuous mechatronic systems.

Competences:

Upon the successful completion of this course, the students will:

  • be able to derive the models of discrete systems in the form of difference equations or transfer functions,
  • be able to analyse the dynamics of a system, consisting of a continuous mechatronic object and a discrete control,
  • understand the requirements and specifications of such systems and will be able to set them up and use them,
  • will be able to systematically design controllers which ensure the specified requirements and system specifications are met,
  • learn to practically realise a controller with a microcomputer/microcontroller and test its operation,
  • understand the operation, characteristics and use of digital-to-analog and analog-to-digital interfaces, and will be able to use them.

Intended learning outcomes:

Knowledge and understanding

Upon the completion of study obligations, the student will:

  • understand the basic concepts, definitions and professional terminology in this field,
  • be able to derive the models of discrete systems in the form of difference equations or transfer functions,
  • be able to analyse the dynamics of discrete control systems,
  • understand the requirements and specifications of such systems and will be able to set them up and use them,
  • will be able to systematically design discrete controllers which ensure the specified requirements and system specifications are met,
  • learn to practically realise a controller with a microcomputer/microcontroller and test its operation in the practice,
  • understand the operation, characteristics and use of A/D- and D/A-interfaces, and will know how to use them.

Usage

The students will be qualified to use the theoretical knowledge in designing and developing computer closed-loop controls for continuous mechatronic systems. They will use software tools for modeling and simulating discrete systems. The knowledge attained represents a foundation, which will be upgraded effectively in the other courses of the Mechatronics and laser technology study field.

Reflection

Integrating the theoretical and applied knowledge with the skills and experience gathered at the laboratory exercises, the students will be able to:

  • identify developmental problems in the field of mechatronics, which can be solved using discrete control systems,
  • transfer and use the mastered solutions on similar cases in the real industrial environment.

Transferrable skills – related to more than one course

The ability to work in teams and communicate with the professionals from other disciplines (mechanical engineering, electrical engineering, information technology and computer science). The ability to find and use the literature describing the use and operation of software tools. The ability to quickly master and use new software tools. The ability to present the results of own work in oral and written form. Taking care of safety at work and environmental protection.

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