To enable students to understand how sampled control systems can be designed
and implemented ... Automatic Control Systems (9th Edition), John Wiley, 2009.
ACS214 Discrete Systems Academic year Credits: 20 Module Leader: Professor M Mahfouf Other Teaching Staff: Dr R Gross _________________________________________________________________ Pre requisites: Co-requisites: ACS211 and AMA244 advised Restrictions: _________________________________________________________________ Introduction This unit covers methods to represent and analyse complex systems in the discrete time domain. A theoretical approach to the design and implementation of discrete systems is supported with lectures on discrete systems as part of modern mechatronic systems. The unit covers the principles of sensors and instrumentation, actuation, signal conditioning, digital logic and hardware, and interfaces. The module is supported by laboratory sessions to enable students to apply the methods covered in lectures. Aims
To enable students to understand how sampled control systems can be designed and implemented for real-time applications; To enable students to understand the principles of sensors, signal conditioning, interfaces, actuation, and digital logic/ hardware used in modern control system applications/ mechatronic systems; To enable students to analyse the components of mechatronic systems; To enable students to design sequential logic circuits; To provide a working knowledge of the techniques of sampled-date systems analysis and design; To enable students to understand practical implementations of PID control.
Objectives Implement real-time systems consisting of simple interfaces, sensors and actuators; Interface analogue and digital systems; Design controllers for simple motor systems; Implement and study PID control in mechatronic systems; Analyse the stability of multi-loop systems using Nyquist stability criterion; Understand the need for digitisation of systems as well as understand the idea behind digital systems; Understand the Shannon-Nyquist Theorem and be able to select the sampling interval for a given system; Determine the z-transform and its inverse for a given system and get to grips with the concept of mapping between Laplace and z domains; Manipulate and understand the algebra associated with sampled system diagrams; Analyse and compensate for sampled-data systems using Bode diagrams and the root-locus technique; Skills in finding and using information independently.
Module Format Lectures, labs, tutorials and independent study Recommended Books Core Texts: • Ogata K. Modern Control Engineering (5th Edition), Prentice Hall, 2009 • DeSilva CW. Mechatronics: A Foundation Course, CRC Press, 2010 Secondary Texts:
• Stefani RT, Shahian B, Savant CJ and Hostetter GH. Design of Feedback Control Systems, (4th Edition), Oxford University Press, 2001 • Golnaraghi F, Kuo BC. Automatic Control Systems (9th Edition), John Wiley, 2009 • Leigh JR. Applied digital control: theory, design and implementation, (2nd Edition), Dover Publications, 2006 • Dorf RC and Bishop RH. Modern Control Systems (11th Edition), Prentice-Hill, 2007 • Paraskevopoulos PN. Digital control systems, Prentice Hall, 1996 • Acarnley P. Stepping Motors: guide to modern theory and practice, (4th Edition), Institution of Electrical Engineers, 2002 • Gayakwad R. Op-Amps and linear integrated circuits, (4th Edition), Prentice Hall, 1999 • Hill W and Horowitz P. The Art of Electronics, Cambridge University Press, 1998 • Basak A. Analogue Electronic Circuits and Systems, Cambridge University Press, 1991 • Kenjo J. Stepping Motors and their Microprocessor Controls, (2nd Edition), Oxford University Press, 1994 • Stanley WD. Operational Amplifiers with Linear Integrated Circuits, (4th Edition), Prentice Hall, 2001 • Bennett S. Real-time Computer Control, Prentice Hall, (2nd Ed), 1994 • Tanenbaum AS. Structured Computer Organisation, (5th Ed), Prentice Hall, 2005 Peripheral Texts: • Omondi AR. Computer Arithmetic Systems, Prentice Hall, 1994. Outline Syllabus Introduction to mechatronic systems. Sensors/transducers: principles of position, motion and process variable measurement. Actuation: DC motors, servo motors, and stepper motors. Interfacing: Operational amplifiers, differential amplifiers, A/D and D/A conversion, signal conditioning. Digital systems: Fundamentals, Karnaugh maps, combinatorial logic circuits, sequential logic circuits design, microprocessors. PID control: Terminology, effects of P, I and D actions, classical form of PID controller and discrete implementation. Introduction to sampled-data systems. The Shannon-Nyquist Theorem. Relationship of sampling to z-transform. The inverse z-transform. Algebra associated with system diagrams. Mapping between the s-plane and the z-plane. Data extrapolators using Zero-Order Hold, the first-order extrapolators. Bilinear (Tustin) transformation. Impulse transfer function. Analysis of absolute stability of sampled-data systems using the Hurwitz and Jury tests. Analysis of relative stability using digital root-locus and frequency domain methods. Compensator design using root-locus and frequency domain methods. Assessment One two-hour written examination: 60% Continuous assessment: 40% Assignments: (a) Computer Aided Control System Analysis and Design using MATLAB (20%) (b) Programming a Digital Display Unit (6.66%) (c) Computer Control of a Stepper Motor Unit (6.66%) (d) Real-time PID Control of a Servo System (6.66%)
