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11 views30 pages

PDF - Chương 7 - Digital Control System

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Hoài Hân Nguyễn
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Dynamic Systems and Control

Digital Control System

Phuong-Tung Pham, Ph.D.


Department of Mechatronics
Faculty of Mechanical Engineering

Ho Chi Minh City


University of Technology 1
CONTENTS

Digital Control System

Sampled Data System

The z-Transform

Stability

Implementation of Digital Controllers

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Digital Control
System

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Evolution of Control Systems
➢ Mechanical control systems
Watt’s Fly Ball Governor

➢ Analog (electrical/electronics) control


systems
Op-amp plus RC circuits based controllers.

➢ Digital (computer) control systems


Apparently a lot more flexible than the two
types above
Computer, DSP, microprocessor

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Introduction on Digital Control System
The use of a digital computer as the compensation device for a closed-loop control
system has grown during the past two decades as the price and reliability of
computers have improved dramatically.

A digital computer often hosts the controller algorithm in a feedback control system.
Computer control is used today for chemical processes, aircraft control, machine
tools, and many common processes.
Since the computer receives data only at specific intervals, it is necessary to develop
a method for describing and analyzing the performance of computer control systems.

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Digital Control System

Advantages
• Improved sensitivity.
• Use digital components.
• Control algorithms easily modified.
• Many systems inherently are digital.

Disadvantages
• Develop complex math algorithms.
• Lose information during conversions due to technical problems.
• Most signals continuous in nature.

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Sampled Data
System

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Digitization
The difference between the continuous and digital systems is that the digital system
operates on samples of the sensed plant rather than the continuous signal and that
the control provided by the digital controller D(s) must be generated by algebraic
equations.

Sampled data (or a discrete


signal) are data obtained for the
system variables only at discrete
intervals and are denoted as
x(kT).
Sampling period is the period
when all the numbers leave or
enter the computer. The period
for which the sampled variable is
held constant.
A system where part of the
system acts on sampled data is
called a sampled-data system.

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Sampler

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Modeling the Sampler

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Modeling the Zero-order hold (ZOH)

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Nyquist and Shannon's Sampling Theorems

“A function containing no frequency higher than ω Hz,


is completely determined by sampling at 2ω Hz”

The sampling theorem of Nyquist and Shannon states that, for the signal to be
accurately reconstructed from the samples, it must have no frequency component
greater than half the sample rate.

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z-transform

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The z-transform
Stability of a sampled-data system depend upon sampling rate

Laplace transform of the sampled time waveform

Letting

z-transform

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The z-transform

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The z-transform
Properties of the z-Transform

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The Inverse z-Transform

Two methods for finding the inverse z-transform (the sampled time function
from its z-transform) will be described:
(1) Partial-fraction expansion (PFE)
(2) Power series method

Regardless of the method used, remember that, since the z-transform came
from the sampled waveform, the inverse z-transform will yield only the
values of the time function at the sampling instants.

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The Inverse z-Transform
Partial-fraction expansion (PFE)

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The Inverse z-Transform

Power series method

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Transfer function

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Transfer function

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Transfer function

Closed-loop transfer function

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Transfer function

➢ Problem:

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Stability

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Digital system stability via the z-plane

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Digital system stability via the z-plane

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Digital system stability via the z-plane

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Implementation of
Digital Controllers

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PID Controller
PID controller with an s-domain transfer function

We can determine a digital implementation of this controller using a


discrete approximation for the derivative and integration.

For the time derivative, we use the backward difference rule

z-transform

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PID Controller
The integration of x(t) can be represented by the forward rectangular
integration at t = kT as

z-transform

The z-domain transfer function of the PID controller is

The complete difference equation algorithm that provides the PID controller is
obtained by adding the three terms to obtain [we use x(kT) = x(k)]

Can be implemented using a digital computer or microprocessor

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