Chương 1 - Giới thiệu về hệ thống điều khiển tự động. Chương này cung cấp cho người học các kiến thức: Lịch sử phát triển của cơ sở tự động, two types of control systems, closed-loop control, multivariable control system,... Mời các bạn cùng tham khảo nội dung chi tiết.
Trang 1C S T Đ NG Ơ Ở Ự Ộ
Giảng viên: Nguyễn Đức Hoàng
Bộ môn Điều Khiển Tự Động
Khoa Điện – Điện Tử Đại Học Bách Khoa Tp.HCM Email: ndhoang@hcmut.edu.vn
Trang 2N i dung môn h c (10 ch ộ ọ ươ ng)
(14 tu n = 42 ti t LT + 14 ti t BT)ầ ế ế
Chương 1: Gi i thi u v h th ng đi u khi n t ớ ệ ề ệ ố ề ể ự
đ ngộ
Chương 2: Mô hình toán h c h th ng liên t cọ ệ ố ụ
Chương 3: Đ c tính đ ng h cặ ộ ọ
Chương 4: Kh o sát tính n đ nh c a h th ngả ổ ị ủ ệ ố
Chương 5: Ch t lấ ượng h th ng đi u khi nệ ố ề ể
Chương 6: Thi t k h th ng tuy n tính liên t cế ế ệ ố ế ụ
Chương 7: Mô hình toán h c h r i r cọ ệ ờ ạ
Chương 8: Phân tích h r i r cệ ờ ạ
Chương 9: Thi t k h r i r cế ế ệ ờ ạ
Chương 10: ng d ngỨ ụ
Trang 3Tài li u tham kh o ệ ả
Giáo trình: Lý thuy t đi u khi n t đ ngế ề ể ự ộ
Nguy n Th Phễ ị ương Hà – Hu nh Thái Hoàngỳ
NXB Đ i H c Qu c Gia TpHCMạ ọ ố
Bài t p: ậ Bài t p đi u khi n t đ ngậ ể ể ự ộ
Nguy n Th Phễ ị ương Hà
Tài li u: ệ
Automatic Control System
Modern Control System Theory and Design
Trang 4+ trên l p : g i lên b ng làm ớ ọ ả ( m i l n không ỗ ầ
làm được 1đ vào đi m thi GK, 0.5đ vào đi m thi ể ể
CK )
Trang 5GI I THI U V H TH NG Ớ Ệ Ề Ệ Ố
ĐI U KHI N T Đ NG Ề Ể Ự Ộ
CH ƯƠ NG 1
Trang 6Control Systems 6
1769
• James Watt’s steam engine and governor
developed The Watt steam engine is often
used to mark the beginning of the Industrial Revolution in Great Britain During the
Industrial Revolution, great strides were
made in the development of mechanization, a technology preceding automation.
Trang 9• Control is a sequence of decisions aimed
at the attainment of specified objectives
in an environment of uncertainty and
presence of disturbances.
Trang 10Control system
• A control system is an arrangement of physical components connected or
related in such a manner as to
command, direct, or regulate itself or another system.
Trang 13• The output is the actual response
obtained from a control system
• It may or may not be equal to specified response implied by the input.
Trang 14History of Automatic Control
Trang 15Prior to World War II
A main impetus for the use of feedback
in the United States was the development
of the telephone system and electronic
feedback amplifiers by Bode, Nyquist, and Black at Bell Telephone Laboratories.
Trang 16Prior to World War II
The Russian theory tended to utilize a time-domain formulation using differential equations
Trang 17World War II
Design and construct:
• automatic airplane pilots,
• gun-positioning systems,
• radar antenna control systems
Trang 18Sputnik and space age
The time-domain methods developed
by Liapunov, Minorsky, and others have met with great interest in the last two
decades.
Trang 19Recent time
Recent theories of optimal control
developed by L.S Pontryagin in the
former Soviet Union and R Bellman in
the United States, and studies of robust systems, have contributed to the interest
in time-domain methods.
Trang 20Terms and Concepts
Trang 21Two Types of Control Systems
– Must have feedback
– Must have sensor on output
– Almost always negative feedback
Trang 22Open-loop and closed-loop systems
Trang 23Open-loop control
An open-loop control system utilizes an
actuating device to control the process directly without using feedback.
A common example of an open-loop control system is an electric toaster in the kitchen.
Trang 25Closed-loop control
A closed-loop control system uses a
measurement of the output and feedback of this signal to compare it with the desired
output.
Trang 27A person steering an automobile by looking at
the auto’s location on the road and making the appropriate adjustments.
Control Systems
Trang 29Manual control system
Goal: Regulate the level of fluid by adjusting the output valve.
The input is a reference level of fluid and is memorized by operator The power amplifier is the operator.
The sensor is visual.
Operator compares the actual level with the desired level and opens
or closes the valve ( actuator).
29
Trang 30The level of fluid in a tank control
30
Trang 31Multivariable control system
Trang 34A robot is a computer-controlled machine.
Industrial robotics is a particular field of automation in which the robot is designed to substitute for human labor
The Honda P3 humanoid robot.
Trang 35The Control System Design Process
Trang 36• Design is the process of conceiving or inventing the forms, parts, and details of
a system to achieve a specified purpose.
Engineering design
Trang 37Engineering design
Trade-off
The result of making a judgment about how to compromise between conflicting criteria.
Trang 38Given a process, how to design a
feedback control system?
Three steps:
performance specifications.
Trang 39Design examples
Trang 40Rotating disk speed control
Control Systems
Trang 41Step 1 Control goal
• Design a system that will held a rotating disk at a constant speed Ensure that
the actual speed of rotation is within a specified percentage of desired speed.
Control Systems
Trang 42Step 2 Variable to be controlled
• Speed of rotation disc
Control Systems
Trang 43Step 3 Control design specification
• Design a system that will ensure that
the actual speed of rotation is within a specified percentage of desired speed.
Control Systems
Trang 44Step 4 Preliminary system configuration
Control Systems
Trang 45Step 4 Preliminary system configuration
Control Systems
Trang 46Insulin delivery system
Trang 47The blood glucose and insulin concentrations for a healthy person.
Control Systems
Trang 48Step 1 Control goal
• Design a system to regulate the blood sugar concentration of a diabetic by controlled dispensing of insulin.
Control Systems
Trang 49Step 2 Variable to be controlled
• Blood glucose concentration
Control Systems
Trang 50Step 3 Control design specification
• Provide a blood glucose level for the
diabetic that closely approximates the glucose level of a healthy person.
Control Systems
Trang 51Step 4 Preliminary system configurations
Control Systems
Trang 52Disk drive read system
Control Systems
Trang 54Step 1 Control goal
• Design a system that will held the position the reader head to read the data stored on
a track on the disk.
Control Systems
Trang 55Step 2 Variable to be controlled
• Position of the reader head
Control Systems
Trang 56Step 3 Control design specification
• Design a system that will ensure that
the head :
- “flies” above the disk at a distance of less than 100 nm,
- with the position accuracy is 1 m,
- with speed from track to track 50 ms
Control Systems
Trang 57Step 4 Preliminary system configuration
Control Systems
Trang 58P1.8 Student-teacher learning process
• Construct a feedback model of the learning
process and identify each block of the system.
Control Systems
Trang 59P1.8 Student-teacher learning
process
Trang 60Inverted pendulum control
• E1.11 Sketch the block diagram of a
feedback control system Identify the
process, sensor, actuator, and controller.The objective is keep the pendulum in the upright position ( = 0), in the
presence of disturbances
Control Systems
Trang 62Inverted pendulum control