DYNAMICS and CONTROL
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1 DYNAMICS an CONTROL Mol IV(I) IV(II) Conrol Sysms Dsign Conrol sysm aramrs Prsn by Pro Albros Profssor of Sysms Enginring an Conrol - UPV
2 Mols: Examls of sysms an signals Mols of sysms an signals Conroll sysms: roris Conrol sysms sign Conrol sysms srcr Paramrs ning Conrol bnfis Toics o sy 2
3 Conroll variabls Conrol Sysms Srcr On-loo conrol Disrbancs Clos-loo conrol Srvisory conrol Goals CONTROL Informaion SENSOR SYSTEM Informaion Casca conrol F-forwar conrol Two grs of from conrol Hirarchical conrol 3
4 Basic conrol srcrs On-loo Conrol Goals CONTROL snsor Conrol Acion PROCESS Disrbanc Conroll Var. Procss Mol: y G. G. Ial Conrol: G 1 y G r. In isrbanc: ˆ PERFECT NOWLEDGE OF THE PROCESS (MODEL)!!! 5
5 Basic conrol srcrs On-loo Conrol Goals CONTROL snsor Conrol Acion Objciv: Rfrnc racking PROCESS G y G G R r R Disrbanc Conroll Var. Fasbiliy Fasibiliy an sabiliy G -1 1 G y G 1 r. Disrbanc Rjcion: G G G G 1 R R Disrbanc masrmn Fasbiliy Fasibiliy an sabiliy G R 6
6 Basic conrol srcrs On-loo Conrol Goals CONTROL snsor Conrol Acion PROCESS Characrisics: Rqir rocss knowlg No isrbancs or masrmn an mol No sabiliy roblms Zro rror is achivabl Disrbanc Conroll Var. G y G 1 r. 7
7 Basic conrol srcrs Clos-loo Conrol Disrbanc Objivs CONTROL Conrol Acion PROCESS Conroll V. snsor Rfrnc S Poin + Error - Masrmn CONTROL Conrol Acion 8
8 Basic conrol srcrs Rfrnc S Poin Clos-loo Conrol: + Error On/Off CONTROL - Masrmn Conrol Acion y y r f () m ; V - -h -V h 9
9 Basic conrol srcrs Rfrnc S Poin Clos-loo Conrol + - Masrmn CONTROL Conrol Acion y y r f () m ; Error: Crrn Val Pas Vals Fr Vals i ; ; k k i k j k j 1
10 PID Conrollrs Dsign Incling: Proorional, Ingral an Drivaiv i Vlociy conrol 11
11 Basic Conrol Acions Proorional Acion E a i 12
12 Basic Conrol Acions Proorional Acion E a i 12
13 Basic Conrol Acions Proorional Acion E a i Incrmn of : 12
14 Basic Conrol Acions Proorional Acion E a i Incrmn of : 12
15 Basic Conrol Acions Proorional Acion E a i Incrmn of : Fasr rsons Mor oscillaions Rc say-sa rror 12
16 Basic Conrol Acions Proorional Acion E a i Incrmn of : Fasr rsons Mor oscillaions Rc say-sa rror 12
17 Ingral Acion Basic Conrol Acions i 13
18 Ingral Acion Basic Conrol Acions Th as rrors ar consir Insabiliy risk i 13
19 Ingral Acion Basic Conrol Acions Th as rrors ar consir Insabiliy risk i Incrmn of i : Largr oscillaions Cancl h say-sa rror 13
20 Basic Conrol Acions Drivaiv Acion ; k k i 14
21 Basic Conrol Acions Drivaiv Acion ; k k i Error rn is consir Nois is amlifi 14
22 Basic conrol srcrs Clos-loo Conrol Objivs CONTROL Conrol Acion snsor PROCESS Disrbanc Conroll V. Characrisics: No goo rocss mol is rqir Disrbancs can b rjc Sabiliy roblms Zro rror is no achivabl Exra insrmns rqir (snsors) y F G 1 GH r G 1 G GH GH 1 GH 15 n
23 Wha hav w sn oay? Conrol Sysms Paramrs In basic conrol srcrs On-loo/Clos-loo Cancllaion On/Off Conrol PID Conrollrs 16
24 Wha is nx? Mols: Examls of sysms an signals Mols of sysms an signals Conroll sysms: roris Conrol sysms sign Conrol sysms srcr Paramrs ning Comlx Conrol sysms sign Conrol bnfis Toics o sy 17
25 DYNAMICS an CONTROL Mol VI (II) Conrol sysms Dsign Conrol sysms aramrs Thank yo! Prsn by Pro Albros Profssor of Sysms Enginring an Conrol - UPV 18
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