Universidad Pública de Navarra - Nafarroako Univertsitate Publikoa
Public University of Navarre
| Course code: 720305 | Subject title: Automation and Process Control | ||||
| Credits: 4.5 | Type of subject: Mandatory | Year: 1 | Period: 1º S | ||
| Department: Ingeniería | |||||
| Lecturers: | |||||
Contents
Mathematical representations of systems: Laplace Transform and Z Transform. Transfer function models and state-space representation.
Analysis of digital control systems: Stability, Time response, Steady state
Design of digital controllers: Discretization of analog controllers. Design of controllers in the z plane.
PID control: The classic PID controller. Analytical tuning methods. Methods of experimental tuning. Possibilities and limitations of the classic PID.
Real-time control: Implementation of a PID controller in a real-time control system.
General proficiencies
General proficiencies
GB6: Possess and understand knowledge necessary to be original in the development and/or application of ideas, often in a research context.
GB7: Being capable of applying knowledge and problem-solving abilities in new or unfamiliar environments within broader (or multidisciplinary) contexts.
GB9: Knowing how to communicate conclusions and the reasons supporting them to specialized and non-specialized audiences in a clear and unambiguous way.
CB10: Possessing learning skills that allow students to continue studying in a self-directed or autonomous way.
CG1: Having adequate knowledge of the scientific and technological aspects of: mathematical, analytical and numerical methods in engineering, electrical engineering, energy engineering, chemical engineering, mechanical engineering, fluid mechanics, industrial electronics, automation, manufacturing, materials, quantitative management methods, industrial computing, urban planning, infrastructures, etc.
CG4: Conducting research, development and innovation in products, processes and methods.
CG8: Applying the acquired knowledge and solving problems in new or unfamiliar environments within broader and multidisciplinary contexts.
Specific proficiencies
CMT8: Ability to design automated production systems and advanced process control.
Specific proficiencies
Competencias del Módulo de Tecnologías Industriales (CMT):
CMT8:Capacidad para diseñar y proyectar sistemas de producción automatizados y control avanzado de procesos.
Learning outcomes
- (R1) Knowing how to create mathematical models of contiuous, discrete and hybrid systems.
- (R2) Being capable of analyzing and designing digital control systems.
- (R3) Knowing the classical PID controller and its tunning methods.
- (R4) Knowing how use a real time control system to implement digital PID control.
Methodology
| Methodology - Activity | Class Hours | Self-Study |
| A-1 Classroom lectures | 30 | |
| A-2 Laboratory sessions | 10 | |
| A-3Cooperative learning | ||
| A-4 Teamwork | ||
| A-5 Self-study | 58 | |
| A-6 Office hours and exams | 14 | |
| Total | 54 | 58 |
Evaluation
| Learning outcome |
Evaluation method |
Weight(%) | Retake | Minimum grade |
| R1, R3 | Part I: Short-answer exam | 35 | Yes | 4 |
| R1, R2, R3 | Part II: Long-answer exam | 50 | Yes | 4 |
| R4 | Laboratory exam | 15 | No |
The final grade will be a weighted mean of the marks obtained in the exams corresponding to each part of the contents and the laboratory exam. The exams will take place along the course. The weighting is detailed in the above table. To pass the subject, the aforementioned mean must be equal to or greater than five. In addition, a minimum grade of four is required in parts I and II. If the latter requirement is not met and the weighted mean is equal to or greater than 5, the final grade will be 4.9.
There will be a retake exam in which the student will have the opportunity to improve one or more of the marks obtained in the two theory exams. If the new grades are higher than those previously obtained, the mean will be recalculated. There will not be a retake for the laboratory exam.
Agenda
Unit I: Analog control systems
Theory
Lecture 1. State space analysis and design.
- States, inputs and outputs. State equations.
- Simulation of systems. Linearization.
- Realizations. Canonical forms.
- Stability. Relation between the state space and the transfer function.
- Controlability. Pole placement. The regulation problem.
- Observability. Observer design. The separation principle.
- Control with integral action.
Unit II: Digital control systems
Theory
Lecture 3. Introduction to digital control.
- Analog and digital signals.
- Sampling and reconstruction.
- Continuous, discrete and hybrid systems.
- Discretized systems.
Lecture 4. Representation of discrete and discretized systems
- Z transform.
- Discrete systems representation with transfer functions.
- Discretized systems representation. Sampled block diagrams.
Lecture 5. Analysis of discretized systems.
- Stability.
- Steady state.
- Transient response of discretized systems.
Lecture 6. Digital controller design
- Analog design and discretization
- PID control
Tema 7. Implementation of digital controllers
- Effects of sampling time
- Quantization
- Rounding errors
Tema 8. State space digital design
- Discrete equivalent of a state space model
- State feedback
- Output feedback
Experimental practice program
Laboratory
Session 1. State space representation of dynamical systems.
Session 2. State feedback control.
Session 3. Output feedback control.
Session 4. Simulation of discrete and hybrid systems. Stability.
Session 5. Digital controller design based on transfer function models and simulation of the control system.
Session 6. Digital control of a real system.
Bibliography
Access the bibliography that your professor has requested from the Library.
Textbooks
Class notes
G. F. Franklin, J. D. Powell and A. Emani-Naeini, Feedback Control of Dynamic Systems, Prentice-Hall.
N. S. Nise, Control Systems Engineering, Wiley
K. J. Aström, B. Wittenmark, Computer controlled Systems, Prentice Hall.
Advanced bibliography
F. Golnaraghi and B. C. Kuo. Automatic Control Systems, Wiley.
K. Ogata, Modern Control Engineering, Prentice-Hall.
B.C. Kuo, Digital Control Systems, Oxford University Press.
R.Isermann, Digital Control Systems, Vol. I: Fundamentals and Deterministic Control, Springer -Verlag.
Apart from the recommended bibliography for the subject itself, students might find useful the books by Franklin, Nise, Kuo and Ogata to review basic concepts of control theory that are used throughout the course, such as transfer functions, time response, root locus, stability, frequency response and its representation inthe Bode diagram, Fourier series and transforms, etc.