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control lectures 1_5

5 lectures of digital control system

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11 views14 pages

control lectures 1_5

5 lectures of digital control system

Uploaded by

freehur7
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Lecture 1

Digital control engineering

Dept. Of Electrical Engineering/ College


of Engineering/ Misan University
Control Engineering
Fourth Year

OUTLINE

• Overview
• Microprocessor
• Shannon’s Sampling Theorem

• z -transform and Inverse z-transform


• Close loop pulse transfer function
• Example

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Overview
• Digital Control Engineering is a branch of control
theory that uses digital computers to act as system
controllers.
• It is easy to configure and reconfigure through software, can
scale to the limits of the memory or storage space without
extra cost, parameters of the program can change with time.
• It has a more accuracy and high speed prosses.
• Since a digital computer is a discrete system, the Laplace
transform is replaced with the Z-transform.
• It requires analog-to-digital conversion, digital-to-analog
conversion.
• Depending on the requirements, a digital control system can
take the form of a microcontroller .
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Microprocessor
• As a result of developments in microprocessor technology, the
implementation of control algorithms is now invariably using
embedded microcontrollers rather than employing analogue
devices. A typical system using microprocessor control is shown
in Figure below.

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• Shannon’s Sampling Theorem
• It states that 'A function f (t) that has a bandwidth wb is uniquely
determined by a discrete set of sample values provided that the
sampling frequency is greater than 2wb’.

• The sampling frequency 2wb is called the Nyquist frequency.


• The lower frequency signal, called an alias as shown in Figure below.

• Analog to digital converter (A/D)


• An ideal sample f *(t) of a continuous signal f (t) is a series of zero width impulses
spaced at sampling time T seconds apart as shown in Figure below:

• The sampled signal is represented by equation (1):

• where δ(t - kT) is the unit impulse function occurring at t= kT.

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Digital to Analog converter (D/A)
As shown in Figure below, a zero-order hold converts a series of impulses
into a series of pulses of width T. Hence a unit impulse at time t is converted
into a pulse of width T, which may be created by a positive unit step at time
t, followed by a negative unit step at time (t — T), i.e. delayed by T.

• The transfer function for a zero-order hold is:

z -transform
• The z-transform is the principal analytical tool for single-input-single-
output discrete-time systems and is analogous to the Laplace transform for
continuous systems.
• Conceptually, the symbol z can be associated with discrete time shifting in a
difference equation in the same way that s can be associated with
differentiation in a differential equation.
• Taking Laplace transforms of equation (1), which is the ideal sampled
signal, gives:

• Defined Z as:

• In long hand form equation

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Example: find Z transform of unit step function f(t)=1?
Solution:

b …….. by long division

The properties of Z transform

1- linearity

2- Initial Value Theorem

3- Final Value Theorem

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Common Laplace and Z transform

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Inverse z-transformation
(a) Infinite power series method
Example: A sampled-data system has a transfer function

If the sampling time is one second and the system is subject to a unit step
input function, determine the discrete time response. (N.B. normally, a
zero-order hold would be included, but, in the interest of simplicity, has
been omitted.) Now

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(b) Difference equation method

In Example

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The pulse transfer function

Blocks in cascaded

Close loop transfer function


• The close loop pulse transfer function is given by

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• Example: Figure below shows a digital control system.
When the controller gain K is unity, and the sampling time
is 0.5 seconds, determine:
a) The open-loop pulse transfer function.
b) The closed-loop pulse transfer function.
c) the difference equation for the discrete time response
d) a sketch of the unit step response assuming zero initial
conditions
e) The steady state value of output system.
If the plant equation is 1/s(s+1).

Solution:

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• The block diagram of the system is shown in figure below:

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• 1 = 𝐴𝑆2 + 2𝐴𝑆 + 𝐵𝑆 + 2𝐵 + 𝐶𝑆2


• 𝐴+𝐶 𝑆2 + 2𝐴 + 𝐵 𝑆 + 2𝐵 = 1
• 2B=1............ 1
• A+C=0 ......... 2
• 2A+B=0 ........ 3
• Now the equation coefficients are:

• Sub. Those values:

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b) The close loop transfer function is calculated by:

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(c) The difference equation:

(d) Using the difference equation, and assuming zero


initial conditions, the unit step response is shown in
Figure

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(e) We can get the steady state value of an output system by using
final value theorem:

• Now:

• Hence, there is not steady state error.


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