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Lect 1

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11 views27 pages

Lect 1

Uploaded by

moazzam2081
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Disgital Control System

Instructor: Dr. Asmaa Salah


Email: [email protected]
Recommended Text Books

• Discrete –Time Control Systems


Katsuhiko Ogata

• Digital Control System Analysis and Design


C.L. Phillips & H.T Nagle

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Grading Policy

Time : 1 lecture a week ( 2 hours)


+ 1 Section & lab ( 2 hours)

Total degree = 100 degree


= 60 written (3 hours)
+ 10 Midterm
+ 10 lab/oral
+ 20 course work

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Outline
• Introduction to digital control systems
• The z-transform and its inverse
• Discrete-time systems representations
• The sampling and holding processes
• Stability, transient response characteristics, and steady-
state error
• Modeling, analysis and design of digital controller systems
• State-Space representation

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Introduction to Control Systems

• What is “a system”?

System is composed of a set of interacting


components (elements) stimulated or excited by an
external input to produce an external output.

• What is “ a control”?

Control is a hidden technology in many applications


to stabilize the system and to maintain its output
close as possible to the desired value.
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What is a Control System?
A control system is an interconnection of components forming a system
configuration to provide a desired system response.

Objective: To make the system OUTPUT and the desired REFERENCE as


close as possible, i.e., to make the ERROR as small as possible.
Key Issues: 1) How to describe the system to be controlled? (Modelling)
2) How to design the controller? (Control)
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Analog Control Systems
• In an analog control system, the controller consists
of traditional analog devices and circuits – linear
amplifiers.

• Analog control provides instantaneous changes.

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Digital Control Systems
• In digital control systems, the controller is often a
microprocessor or microcontroller.
• The controller repeats a program over and over.
Each repetition is an iteration or scan.
• The required scan time is dependent on the process
being controlled.

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Design of Digital Control Systems
• A digital control system refers to the use of a
digital computer or controller in the system,
so that the signals are digitally coded, such as
in binary code.
• Digital computers provide many advantages in
size and flexibility.
– The expensive equipment used in a system
may be shared simultaneously among several
control channels.
– Digital control systems are usually less
sensitive to noise.

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Design of Digital Control Systems
Start with continuous system.
• Transform D(s) to D(z): We will obtain a discrete
system with a similar behavior to the continuous one.
• Include D/A converter, usually a zero-order-device.
• Include A/D converter modeled as an ideal sampler.
• Chose a sample frequency based on the closed-loop
bandwidth ωB of the continuous system. (Chose sample
period, usually small but not too small. Use sampling
period T = 1 / 10 fB, where fB = ωB / 2π. Practical limit
for sampling frequency: ωB ˃ 40)
• Check performance using discrete model or SIMULINK.
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Advantages of Digital Techniques
• Digital systems are generally easier to design.
• Information storage is easy.
• Accuracy and precision are greater.
• Digital circuits are less effected by noise.
• Many loops can be controlled by the same
computer through time sharing.
• Possible to have effective user interfaces for
monitoring, analysis, and command
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Basic requirements for control systems

• Stability: refer to the ability of a system to


recover equilibrium
• Quickness: refer to the duration of transient
process before the control system to reach its
equilibrium
• Accuracy: refer to the size of steady-state
error when the transient process ends

(Steady-state error = desired output – actual


output)
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Note

• For a control system, the above three


performance indices (stability, quickness,
accuracy) are sometimes contradictory.

• In design of a practical control system, we


always need to make compromise.

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Comments on feedback control

• Main advantages of feedback:


– reduce disturbance effects
– make system insensitive to variations
– stabilize an unstable system
– create well-defined relationship between output
and reference

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Main drawbacks of feedback:

– cause instability if not used properly

– couple noise from sensors into the dynamics of a


system

– increase the overall complexity of a system

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Feedback control design

how to
get the gain as large as possible to reduce the error

without
making the system become unstable.

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