Control Theory (“Regeltechniek”)

1. Control Theory (“Regeltechniek”) Jeroen Buijs jeroen.buijs@groept.be Module 8

2. The course Lectures: Prepared Interactive Lectures… Written - Open book - Exercise exam + 0..4 bonus points Exercise sessions: 12*1,5h – permanent assessment (assignment) Lab: PLC OPO mark = 50% lect. / 20% exerc. / 30% lab

3. Prepared Interactive Lectures • All info on blog: http://grouptemcontroltheory.wordpress.com/ !!! You’ll need a Wordpress login !!! (Please choose a user name with your first and last name in it) • Preparation assignments appear on Wednesday (with a due date) up to 2 bonus points can be obtained by preparing evaluation is based on EFFORT PASSWORD for assignments: GTcontrol • In class, we work by means of poll questions/group tasks up to 2 bonus points can be obtained by answering evaluation is based on CORRECTNESS !!! You’ll need a Polleverywhere login and a voting device !!!

6. First examples http://www.youtube.com/watch?v=AZhQt7HOSWo http://www.youtube.com/watch?v=YnFlpxKVMTQ http://www.youtube.com/watch?v=uERF6D37E_o

7. First examples [PID Control Theory Made Easy, ABB]

8. First examples IBM’s DB2 Universal Database Management System [Abdelzaher]

9. First examples ROAD Desired direction Actuator/ Current direction Error

10. First examples SECOND EXAMPLE: See http://www.youtube.com/watch?v=8pPfrV8E37o&feature=player_detailpage

11. First examples ORIGIN OF AUTOMATIC CONTROL 1769: The first automatic controller with feedback in an industrial process Steam engine (James Watt?) Control system (called ‘fly-ball governor’)

12. First examples ORIGIN OF AUTOMATIC CONTROL Control system: ‘fly-ball governor’

13. First examples ORIGIN OF AUTOMATIC CONTROL Control system: ‘fly-ball governor’ 1- Turns with speed of output axis of the steam engine. 2- Speed of engine   balls towards outside. 3- The movement of the balls regulates the valve of the incoming steam. Balls towards outside  Valve closes  Less steam  speed 

14. History of control theory • In the beginning: based on intuition/heuristics • Second half of 19th century: Mathematical descriptions (processes => control) • World wars: need for very accurate control systems (gun positioning, navigation) • the CLASSICAL control period (1914-1960) = design in the frequency domain (Bell laboratories) • 1960-now: MODERN control period = design in the time domain Remark: 1969: start of digital control era.

15. Feedback Example: Thermostatic control

17. Feedback Example: Thermostatic control PRINCIPLE: 0- Process: Room with in- and outgoing heat flows 1- Measurement: We measure the temperature in the room (T) 2- Comparison: Compare this with the desired temperature (TD) 3- Determine theControl action: If T < TD : Increase heat flow from heating element If T > TD : Decrease heat flow from heating element If T = TD : Don’t change anything 4- Actuate: Use a device to conduct the desired action e.g. increase temperature of water in central heating system Feedback principle:We use a measurement of the output of the process to determine what to do with the input of the process.

18. Feedback Closed loop / Feedback control system – Block scheme

19. (No…) Feedback Control system without feedback – Block scheme

20. Block scheme of Closed Loop “Servo problem” vs “Control problem” 