This is a subject of optional character, which is taught in the 2nd semester of the fourth year of the Degree in Industrial Technology. The total workload is 6 ECTS. The workload for students is 150 hours over the semester, of which 60 are classroom or classroom and 90 are non-classroom or outside the classroom work.



Learning outcomes after making the subject "Computer Control" is summarized as follows:



"Being able to choose the sampling frequency of the digital control for each application.

"Knowing get the equivalent discrete model of a continuous process control.

"Knowing how to analyze the stability of a digital control system, and determine your expected margins in terms of stability robustness.

"Knowing how to choose the most suitable control structure, and design it based on a closed loop specifications.

"Knowing realize the digital controller through its difference equations, and program them know in a controller device.

"Knowing a discrete PID controller tuning based on measurement by using techniques and model-based techniques.

THEORETICAL AGENDA



1.- DISCRETE TIME SYSTEMS



Topic 1 Introduction. The computer as a control element

Elementary loop computer control.

Computer functions. Computer control schemes.



Topic 2 Hardware To Control.



Topic 3 discrete signals and systems

Sequence. Sequence properties.

Representation of discrete-time systems: difference equation, discrete convolution.

Stability of a discrete system.



Topic 4 Transformed z

Definition. Properties.

Z-transform elementary functions.

Inverse z-transform. Definition. Methods.



Topic 5 Sampling and Reconstruction

Sampling by impulses.

Properties of the sampled signal. Sampling theorem.

Reconstruction. Reconstruction by retainers.



Topic 6 Sampled Systems

Pulse transfer function.

Transfer function of the sampled signal by pulses.

Transfer function z Systems open loop and closed loop.

Z transfer function of a control system computer.



2.- ANALYSIS OF DISCRETE TIME SYSTEMS



Topic 7 Relationship between the plane and the plane z s

S transformation to the z plane.

Places constant damping constant natural frequency.



Topic 8 Stability

Stability Analysis.

Jury criterion.

Effect of the sampling period in system stability



Topic 9 Dynamic Analysis.

First order systems and 2nd order.



Topic 10 Accuracy

Analysis steady.

Precision. Steady error.

Effects of disturbances.



3.- DESIGN TIME CONTROL SYSTEMS DISCREET



Topic 11 Discretization of Continuous Regulators

Discretization methods by numerical integration.

Discretization of the PID controller.



Topic 12 Design of Regulators in the z-plane

Locus Roots method

Allocation dominant poles methods



Topic 13 PID Controllers



Topic 14 Frequency Response Methods

Design of Regulators in the z-plane: Frequency Response Method.

Bode plot.

Compensator design.



Topic 15 Direct Synthesis Methods

Pole placement controllers.

Drivers cancellation. Minimum drivers and drivers finite time period.

Kalman controller and driver Dahlin







LABORATORY AND SEMINAR AGENDA



Lab-Sem 0 Presentation

Lab-Sem 1 Calculation Tools: Matlab and Simulink

Lab-Sem 2 Continuous Subsystems (I)

Lab-Sem 3 Continuous Subsystems (II)

Lab-Sem 4 Signals and discrete systems: computational methods

Lab-Sem-5 TZ and TZ Reverse computational methods

Lab-Sem 6 Monitoring and Characterization servomotor

Lab-Sem 7 Direct Servo Control

Lab-Sem 8 Effect of the sampling period T

Lab-Sem 9 continuous and discrete PID

Lab-Sem 10 Conversion and Discretization: computational methods

Lab-Sem 11 Design of discrete controllers: LR - Sisotool

Lab-Sem 12 Design of discrete controllers: LR - computational methods

Lab-Sem 13 Trends Computer Control (I)

Lab-Sem 14 Trends Control Computer (II)

These materials and texts are accessible to students through eGela platform http://egela.ehu.es , and the library of the School.



Students will be provided through eGela of:

1) documents related to the subject content (presentations, statements and responses to problems, and links on the Internet)



2) Statements and Tasks of the practice sessions and Seminar Laboratory.



The theoretical concepts presented will be applied to solving practical problems. They will work in seminars where students are on reduced with the teacher group to solve problems, facilitating collective analysis of these problems. For these sessions students initially work individually and then in pairs, using the documentation concerning the statements and answers of problems.



In laboratory classes, students will control practices using computational methods offered by software tools such as Matlab and Simulink environment (high-level language and interactive environment). This will complement and reinforce the concepts and management techniques described in classes theory. For these sessions, students will work in partnership with another classmate of the course and use a computer, internet, and models of the servomotor. the documentation for these sessions (Statements and Tasks of the practice sessions Laboratory) is available in eGela .

At the beginning of the course will be available to students of the course schedule through the eGela platform (http://egela.ehu.eus). This schedule will include at least the dates on which written assessment test and delivery dates of the various works and memories of student portfolio will be made.



Established competencies in the subject will be assessed by applying a series of qualification procedures for each activity proposed as evaluable.



The practices carried out in the Laboratory will account for 30% of the final grade. For quality evaluation of the results and the portfolio of practices and seminars will be taken into account. This is formative assessment throughout the seminar sessions and laboratory practices, with feedback from teacher to student proposals and indications of specific and customized improvement. Can be made an oral examination if deemed appropriate to adequately assess the work done, and / or a practical examination in the laboratory if the student has not all the practical tasks Laboratory and Seminar.



The written exam of the course will represent the other 70% of the final grade. Summative evaluation is kind.



The student will obtain a numerical score between 0 and 10 per assessable activity, which will be weighted according to their weight, to obtain the overall rating of the subject.



To pass the course, the student:

(1) It must obtain a minimum of 5 points in the written exam.

(2) It must have to get at least 5 points in the evaluation of its portfolio

Presentations of the theoretical topics of the subject.
Presentations and statements tasks Laboratory and seminar sessions.
Collection of exercises and results.

The material will be available to students in the eGela platform (http://egela.ehu.es), and / or service through school publications.

Basic bibliography

Sistemas de Control en Tiempo Discreto. K. Ogata. Prentice Hall, 2ª Ed 1996

Sistemas de Control Digital. Kuo, B.C. ED CECSA.

Sistema de Control contínuos y discretos – John Dorsey. McGraw Hill 2005

Diseño Algebraico de Controladores Discretos. Berbabeu Soler and Martínez Iranzo. Ed, UPC

In-depth bibliography

Digital Control Systems. Paraskevopoulos P.N. Ed Prentice Hall
Digital Control Systems. Analysis and Design.. Nagle, Philips. ED Prentice Hall
Microcontroller Based Applied Digital Control. Ibrahim Dogan. ED Wiley.
Digital Control of Dynamic Systems. Franklin, Powell and Workman. Addison Wesley.
Digital Control K.M.Moudgalya. Wiley 2007
Discrete-Time Control Problems. J.H.Chow et ad. Thoomson 2003
Digital Control Engineering. M. Sam Fadali. Academic Press, 2009.

Journals

Control Engineering Practice. A Journal of IFAC, the International Federation of Automatic Control.
Automática e Instrumentación. Editorial: Grupo TecniPublicaciones
Revista Iberoamericana de Informática Industrial