Automation Control System Design (ETF AEO PSU 5962) |
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General information |
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Module title | Automation Control System Design |
Module code | ETF AEO PSU 5962 |
Study | ETF-B |
Department | Control and Electronics |
Year | 2 |
Semester | 3 |
Module type | Mandatory |
ECTS | 7 |
Hours | 62 |
Lectures | 39 |
Exercises | 23 |
Tutorials | 0 |
Module goal - Knowledge and skill to be achieved by students |
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| <br> Complete title of this course is "Designing a system for automatic regulation and control of technological processes". Prior this course, students have already attended all the theory courses (Theory of Automation Control, System Identification, and others), and basic courses for automation system realisation (Electrical Engineering, Electronics, Fluid Dynamics, and others). In this course students are introduced to a system as whole, in which all system parts are interdependent. Emphasis is put on correlation of automation of an object and an object itself. Usability of different systematic methods for objects that contain significant quantities of transport delay is evaluated, and majority of applications are concentrated on the method of amplitude-phase characteristic in Re-Im space. After experimental identification of an object, students are introduced to a concept of quality of a regulated dimension response in time-domain (where quality has physical meaning) and its transformation into space where synthesis is being done by non-iterative method. After defining standard contour dimensions, we define rules for selecting informational and executive objects, rules for controller selection and its setting. Particular consideration is made on synthesis of contours with two-position controllers and contours with cascade structure, control by interference, and gaining autonomy in objects with interdependent variables. Discussion is made on object specifics, where regulated dimensions are: flow, level, pressure, temperature and chemical structure. Formal principles of design and fundamentals of graphical presentation standardisations have significant role in the course. Examples of hierarchical conduction of complex objects with recognizable functional groups and subgroups are shown. <br> Laboratory exercises deepen knowledge for mathematical modelling of objects, part of the exercises is done on a model and in simulations using program tools: MATLAB, Simulink and Multitool, for analysis and synthesis of concrete tasks. Visit to real object (Thermal Power Plant Kakanj). Educational films: Control Valves, Continuous Process Control, Batch Processes Control, Heat Exchanger Control, Distillation Control, pH Control. <br> |
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Syllabus |
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| Experimental identification of an object. <br> Step function method. Experiment conduction technique. Analysis of experimental results. Conducting an experiment using impulse test function. Approximation without transport delay. Methods of simple and complex harmonic test function (experimental tracking of amplitude-phase characteristic): technique of experiment conduction and analysis of experimental results. Approximate interdependence of dynamic characteristics in the form of time and amplitude-phase characteristics. Justifiability of approximating high-order object with first-order object with transport delay. Passive experiment method. Definition of random dimensions. Autocorrelation and cross correlation functions. Calculating correlation functions. Methods for identification of an object in contour with controller. Static characteristic identifications. Physical modelling methods. Selection of method for experimental identification. <br> Technical conditions for regulation systems <br> Technical conditions for automation regulation system: time-domain and amplitude-phase characteristic domain. Technical conditions for contours containing two-positioned controllers. <br> Simple regulation contour <br> Interference in regulation contours. Criterion for optimal setting of the regulator. Regulation contour as optimal filter of interference. Synthesis and settings of simple regulation contour. Selection of informational object. Selection and dimensioning of execution object. Synthesis of desired static characteristic of the valve. Valve capacity. <br> Static characteristics of the valve under constant pressure head loss (constructive characteristics). <br> Setting a controller if the object is not identified. <br> Setting attributes of the regulation contour with digital regulator. <br> Discrete form of the regulation algorithms. Discrete form of ideal PID algorithm. Discrete form of real PID algorithm. Quantisation errors. Setting of the discrete PID algorithms parameters. <br> Synthesis of regulation contour with two-positioned controllers on: astatic first-order object, static first-order object, astatic object with delay and static object with delay. Setting of two-positioned controllers on a second-order object. Contour with three-positioned controller. Contour containing impulse controller with impulse-width modulation. <br> Control contours with additional data <br> Cascade schemes. Setting a controller in cascade structure. Differentiation of auxiliary dimensions. Systems with control by interference. Conditions of regulated dimension invarianbility considering interference. Combined systems. Model synthesis. Multivariable systems. One interconnection in object - gaining autonomy. Two interconnections - gaining autonomy. Example of object regulation with interconnections without gaining autonomy. Fluid's flow-ratio regulation. Controller settings in ratio-regulation. <br> Analysis of the contours most present in technological processes <br> Flow regulation. Inertial delay of liquid in motion. Other dynamical elements in contour, noise. Pressure regulation: gas, steam, liquid. Liquid level and hydraulic resonance. Hydraulic resonance period. Noise in level regulation. Boiling liquids and condensed steams. Temperature regulation. Example of a constant parameters system. Time constants of the system. Object gain. Chemical constitution regulation. Stirring process. Analyser. Process gain. <br> Formal design principles for regulation contours <br> Project fundamentals of universal unified system of technical means for technological processes automation. Project organisation. Computer design of local automation contour. <br> Controlling transit states of complex object <br> Functional-group object decomposition on thermal power plant example. <br> Example of designing functional group control: supply and heating of air - hard wired logic example. Example of designing functional group control: water supplying of boiler - free programmed system example. <br> |
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Literature |
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| Recommended | 1. Lecture notes and slides (will be available at the Web site) <br> 2. Transcript: B. Matić, N. Borić <br> |
| Additional | 1. Yang i Masubuchi: Dinamics for Process and System Control, Gordon and Breach Science Publishers, New York <br> 2. Salihbegović: Modeliranje dinamičkih sistema, Svjetlost, Sarajevo |
Didactic methods |
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| Theoretical knowledge, followed by examples from engineering practice, is presented in an auditory, with all mathematic calculus and drawing of diagrams and auxiliary sketches. Diagrams and pictures are presented by slides. Laboratories (23 hours) objective, under tutor's guidance, is for students to verify knowledge gained through lectures and auditory exercises, by using software packages. These activities are structured so that every student has personal computer for performing certain activities. During first hours students model already solved tasks in one of the software packages. <br> |
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Exams |
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| Through the course, student gains points according to following system. <br> Attendance to lectures, laboratories and tutorials: 10 points, student which misses lectures and/or tutorials more than three times cannot get points for these activities. <br> Homework and laboratory assignments: maximum 10 points. There are 5 homework exercises, equally allocated through semester; these 5 exercises worth 5 points; successfully finished laboratory assignments are also worth 5 points. <br> Student which in the end of the course has less than 20 points has to take the course again. <br> Student which in the end of the course has 40 or more points can take final exam; this exam is consisted of discussion on partial exams tasks, homework and answers to questions referring to course subjects. <br> Final verbal examination is worth maximum 40 points. To pass the course, on this examination student must have minimum 20 points. Student which has less than 20 points on final verbal examination takes verbal corrective examination. <br> Student which has gained more than 20 but less than 40 points during the course takes corrective exam. Corrective exam is structured in the following way: <br> - written examination, structured in the same way as partial exam; on this examination student solves tasks from subjects he/she did not pass (10 or more points) by taking partial written exams. <br> - verbal examination, structured in the same way as final verbal exam. <br> Student can take verbal corrective examination only if after passing written corrective examination has made total score of 40 or more points; this score is made of points gained through: attendance, homework, passing partial exams and passing written corrective examination. <br> Verbal corrective examination is worth maximum 40 points. To pass the course, on this examination student must have minimum 20 points. Student which has less than 20 points on verbal corrective examination has to take the course again. <br> |
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Aditional notes |
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| During examination use of any kind of notes, books, mobile phones or any other electronic tools is not allowed, except pocket calculator and tables of Laplace transformations. Tasks and theory questions on the examination are similar to those solved on lectures and auditory exercises. | |