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Intro Digital Control

This document provides an introduction to digital control systems, including: 1. It outlines the typical structure of a digital control system, including analog-to-digital conversion of sensor measurements, digital processing by a computer, and digital-to-analog conversion of control signals. 2. It discusses why digital control systems are more popular than analog systems, noting advantages like accuracy, flexibility, and lower costs due to integrated circuits. 3. It provides examples of digital control systems, such as computer control of a jet engine, control of a robotic manipulator, and closed-loop drug delivery systems.

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13 views

Intro Digital Control

This document provides an introduction to digital control systems, including: 1. It outlines the typical structure of a digital control system, including analog-to-digital conversion of sensor measurements, digital processing by a computer, and digital-to-analog conversion of control signals. 2. It discusses why digital control systems are more popular than analog systems, noting advantages like accuracy, flexibility, and lower costs due to integrated circuits. 3. It provides examples of digital control systems, such as computer control of a jet engine, control of a robotic manipulator, and closed-loop drug delivery systems.

Uploaded by

joylyjelly
Copyright
© © All Rights Reserved
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Introduction to Digital Control

MTCM6040
Control Systems and Design

1
Outline

• Control System
• Signals in control system
• Why digital control?
• Structure of a typical digital control system.
• Examples of digital control systems.

2
Control System
• Control systems is an interconnection of components to
provide a desired function
• Portion of system to be controlled called: process, plant and
controlled system
• Portion of the system does controlling is called Controller
• Feedback control system can be implemented if
measurements of plant is available

3
Signals in Control System(1)
• Continuous-time signals: defined for all time

4
Signals in Control System(2)
• Discrete time signals: defined only at discrete instants of time
usually evenly spaced steps
• Digital signals: signals for which both time and amplitude are
discrete

• Continuous or discrete are termed based on types of signals


5
involved
Why Digital Control?
• Digital control systems are far more
popular than analog control systems.
• Digital: approximation involved and
defined at discrete time points.
• Analog: no approximation and defined
over a continuous time interval.

6
1. Accuracy

• Accurate representation of digital signals


using "0" and "1" with 16 bits or more for
a single number.
• Much smaller error than analog signals
(due to noise and power supply drift).

7
2. Implementation Errors

• Digital processing of control signals:


addition and multiplication by stored
numerical values.
• Negligible errors due to digital
representation.
• Analog signal processing: uses
components (e.g. R, C) whose actual
values vary significantly from the nominal
design values.
8
3. Flexibility

• Analog controllers: difficult to modify or


redesign once implemented in hardware.
• Digital controllers (in firmware or software):
easily modified without complete
replacement of the original controller.
• Complex digital controller require a few extra
arithmetic operations.
• Only simple controllers are typically used in
analog control.
9
4. Speed and Low cost

• Faster computer hardware allows short


sampling periods (high sampling rate).
• With short sampling periods, digital
controllers monitor controlled variables
almost continuously.
• Advances in VLSI technology provide
better, faster and more reliable integrated
circuits at lower prices.

10
Digital Control System Structure (1)

To control a physical system or process


using a digital controller, the controller
must
1) Receive measurements from the system.
2) Process them.
3) Send control signals to the actuator to
effect the control action.

11
Digital Control System Structure (2)

Reference Controlled
Input Variable
Actuator
Computer D AC & Process

ADC Sensor

Figure 1: Configuration of a digital control system


12
Digital Control System Structure (3)

13
Figure 2: Configuration of a digital control system in details
Digital Control System Structure (4)

Figure 3: Signals forms in a digital control system 14


Digital Control System Structure (5)
• A/D conversion process is called coding or encoding
• D/A conversion process is called decoding
• Sample-and-hold: a circuit that receives analog input signal &
holds this signal at constant value for specified period of time
• D/A converter (Decoder): converts a digital signal into analog
signal
• Plant or process: is any physical object to be controlled…eg.
Furnace, a chemical reactor, a servo system
• Transducer/Sensor: converts input signal into an output signal
15
of another form
Other Control Configurations
Examples include
(i) Several reference inputs,
controlled variables, and loops.
(ii) Inner loop with digital or analog
control.

16
Examples of Digital Control
Systems

a) Computer Control of an Aircraft


Turbojet Engine
b) Control of a Robotic Manipulator
c) Closed-loop Drug Delivery System

17
Turbojet Engine Control System (1)

18
Figure 4
Turbojet Engine Control System (2)

Pilot Aircraft
Command State
Turbojet
Computer DAC Aircraft
Engine

Engine Engine
ADC
Sensors State

Aircraft
ADC
Sensors

Figure 5

19
3-D.O.F. Robotic Manipulator (1)

20
Figure 6
3-D.O.F. Robotic Manipulator (2)
x

End Effector

f
z

Figure 7
21
Robotic Manipulator Control
Reference
Trajectory Supervisory Computers DAC Manipulator
Computer

Position
ADC Sensors

Velocity
ADC Sensors

Figure 8

22
Drug Delivery Digital Control (1)

Figure 9 23
Drug Delivery Digital Control (2)

Reference Regulated Drug


Blood Level or Nutrient
Drug
Computer DAC Patient
Pump

Blood
ADC
Sensor

Figure 10
24
References
• M. Sami Fadali, Antonio Visioli, Digital Control Engineering:
Analysis and Design, Second Edition
• M Gopal, Digital Control and Sate Variable Methods, Second
Edition
• Katsuhiko Ogata, Discrete-Time control systems, Second
Edition

25

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