第一章-计算机控制系统概述

ComputerControlTechnology

HeshengWangDepartmentofAutomation,SJTUSept.2011Contactinformation2-509,SEIEEBuildings34207252(oanghesheng@Chapter1Overview

OutlineCourseobjectivesandtasksThemaincontentThemainReferencesTheconceptofcomputercontrolsystemComputerControlSystem‘sStructureTypicalForms

Controllaw1Courseobjectivesandtasks(1/2)Industrialcontrolisanimportantapplicationfieldofcomputer,thecomputercontrolisdevelopedinordertomeettheneedsofthisfieldandaprofessionaltechnology。Task:itmainlystudieshowtoapplycomputertechnologyandautomaticcontroltheoryinindustrialproductionprocess,anddesignedacomputercontrolsystemthatisneeded.Purpose:itistomakestudentsunderstandandmasterthesingle-chipasthecoreofthecontrolsystemofhardware,software,thebasicknowledgeandbasicapplicationtechnology.1Courseobjectivesandtasks(2/2)Thiscourseisoneoftheprofessionalbasiccoursesandprofessionalbackbonecourse

oftheautomation.

whatcourse？Theautomaticcontroltheory,moderncontroltheory,computertheoryandinterfacetechnology,computercontroltechnology,motioncontrolsystems,processcontrolsystems.2Themaincontent（1/4）Themaincontentsofthecourseinclude：Thecompositionandclassificationofthecomputercontrolsystem；Computercontrolsystemdesignmethodoftheprocesschannel；Digitalprocesscontroltechnology；DigitalPIDalgorithm；Directdigitalcontrolalgorithm；Modelpredictivecontrolalgorithm;DistributedComputerControlSystem；Fieldbustechnology2Themaincontent（2/4）OverviewandprocesschannelmodulesAnoverviewofthecomputercontrolsystemProcesschannelanddataacquisitionsystemProcesscontrolandnumericalcontrolThemaincontent（3/4）AlgorithmmoduleDigitalPIDcontrolalgorithmDirectdigitalcontrollerdesignmethodModelpredictivecontrolalgorithm22Themaincontent（4/4）AdvancedcontrolmoduleMicrocomputercontrolsystemdesignandapplicationexamplesDistributedComputerControlSystemFieldbustechnologyandapplications3ThemainReferencesAuthorTitlePressYearXIEJianyingetal.Micro-computercontroltechnology(3rdedition)NationalDefenseIndustryPress2001XIYu-Gengetal.PredictiveControlNationalDefenseIndustryPress1991JinYihuietal.ProcessControlTsinghuaUniversityPress1995YuHaishengetal.MicrocomputercontroltechnologyTsinghuaUniversityPress1999Zeng-QiSunetal.ComputerControlTheoryandApplicationsTsinghuaUniversityPressModerncomputercontrolsystem4Computercontrolconcept(1/3)Thecomputercontrolsystemistheuseofthecomputertoachieveautomaticcontrolsystemoftheproductionprocess.Thecomputercontrolsystem(includinghardware,softwareandnetworkstructure)iscomposedoftwopartsincludingthecontrolledobjectsandthecomputerbody.Thefollowingfigureisatypicaldeviationcontrolcomputercontrolsystem.

Controller

(Computer)

controlledobject

(Theproductionprocess)Controller-eInput+rD/AuA/DIPCyControlledobject

actuatorOuterputMeasuringtransducerProcessofproductionController-eInput+rD/AuA/DIPCyControlled

objectactuatorOutputMeasuring

transducerProcessofproduction

Controller

(Computer)

Controlledobject

(Processofproduction)4Theconceptofcomputer-controlledsystem

（2/3）Inthestructurecanbedividedintoopenloopsystemsandclosed-loopsystem

◆

Open-loop:simplestructure,poorperformance

◆

Closedloop:theneedofthefeedbacksignalofthecontrolledobjectThecontrolprocedure(4)：

◆Real-timedataacquisition

◆

Real-timecomputing

◆

Real-timecontrol

◆

Informationmanagement4Theconceptofcomputer-controlledsystem(3/3)Afewcommon

terms

◆Online：Computercontrolsystemisdirectlyconnectedwiththeproductionequipment

◆Offline：Thecomputercontrolsystemisdisconnectedwiththeproductionequipment

◆Realtime：Computerinput,output,andcalculationsarecompletedwithinthespecifiedtime

◆Therelationshipbetweenonlineandreal-time

—Anonlinesystemisnotnecessarilyreal-timesystems

—Areal-timesystemmustbeonlinesystem5Compositionofthecomputercontrolsystem(1/4)Hardwarecomponents

◆Hostcomputer：CPU、RAM/ROM

◆Regularperipherals：Input,outputandstoragedevices◆Inputandoutputchannels：AI、AO、DI、DO◆Peripheral：Variousinterfaces(Universal)

◆Runconsole：Display,functionkeys,numerickeys5Compositionofthecomputercontrolsystem(2/4)Computercontrolsystemhardwareblockdiagram5Compositionofthecomputercontrolsystem(3/4)Softwarecomponents

◆SystemSoftware

—Basiccomputeroperationandmanagementenvironment

◆Applicationsoftware

—Directcontrolprogram5Compositionofthecomputercontrolsystem（4/4）NetworkStructure

◆Peer-to-peernetworkstructure（Peer-to-Peer,P2P）

—Peer-to-peernetworkingtechnology

◆Client/serverarchitecture（Client/Server,C/S）

—Eachnodefunctionisdifferent6Typicalformsofcomputercontrolsystem(1/6)Dataacquisitionandmonitoringsystem:thecomputerisnotdirectlyinvolvedinthecontrolprocess.DisplayterminalPrinterSamplerComputerA/DconverterMeasuringelementIndustrialobjects6Typicalformsofcomputercontrolsystem(2/6)DirectDigitalControl,DDC

—Computerparticipateintheclosedloopcontrolprocess6Typicalformsofcomputercontrolsystem（3/6）SupervisoryComputerControl,SCC

—Givenvaluecontrol,theeffectdependsontheaccuracyofmathematicalmodel

—Twodifferentstructures：

•SCC＋Analogregulator

•SCC＋DDC6Typicalformsofcomputercontrolsystem（4/6）SCC＋AnalogregulatorSCC＋DDCManagementCommandReportArtificialregulatoryGivenvalueMeasuredvalueMultiplexerDetectorProcessofproductionManagementCommandReportArtificialregulatoryGivenvalueMeasuredvalueMultiplexerDetectorAnti-multiplexerProcessofproduction6Typicalformsofcomputercontrolsystem（5/6）DistributedControlSystem,DCS

—

Decentralizedcontrolandcentralizedmanagement6Typicalformsofcomputercontrolsystem（6/6）FieldbusControlSystem,FCS

◆

Anewgenerationofdistributedcontrolstructure

◆With"workstationsandfieldbusinstrument"layerstructurecompleteDCSthree-tierstructurefunction

◆

Canreducecosts,improvereliability,realizetherealopeninterconnectionsystemstructure7

ThecontrollawofComputercontrolsystem

1/4Sequencecontrolandnumericalcontrol

◆Belongstoopenloopcontrolmode◆Sequencecontrol:accordingtocertaintimesequenceandlogicalorder

—

Timingcontrol

—

Logiccontrol◆Numericalcontrol：accordingtothegivendatatoacertainproceduretocontrol7ThecontrollawofComputercontrolsystem（2/4）PIDProportional-Integral-Differential）◆Accordingto

thedeviationoftheproportional,integralanddifferentialcontrol◆Algorithmis

simple,themostmaturetechnologyinthecontinuoussystem,themostwidelyusedDirectdigitalcontrollerdesignalgorithm

—

BasedonZtransform,samplingcontrolsystemModelpredictivecontrol

—

Controlalgorithmbasedonsysteminputandoutput

7ThecontrollawofComputercontrolsystem（4/4）Intelligentcontrol

◆fuzzycontrol

◆Expertsystem

◆

learningcontrol

◆Neuralnetworkcontrol7ThecontrollawofComputercontrolsystem(3/4)Theoptimalcontrol

—Thechoiceofappropriatecontrollaw,theworkingconditionsofthecontrolsystemofconstantandcertainphysicalstatisticsundertherestrictionsofthesystemofsomeperformanceindex,evaluationfunctiontoobtainthemaximumorminimumvalue.Adaptivecontrol

—

Designedcontrollercanstillcanmaketheperformanceevaluationfunctiontoachievetheoptimal

undertheconditionofthestatisticalchange.8Controldevicetypes1Programmablecontroller2

Programmableregulator3

Busindustrialcontrol4

single

chip

microcomputer5

Other

control

devices8.1ProgrammablecontrollerTheprogrammablelogiccontroller--ReferredtoastheprogrammablecontrollerorPLC,istheproductofthecombinationofcomputertechnologyandtheconceptofrelaylogiccontrol,low-endalternativeoftheconventionalrelaylogiccontroldevice,thehigh-endforahigh-performanceindustrialcontrolcomputer.ItmainlyconsistsofaCPU,memory,inputcomponents,outputcomponents,powersupplyandprogrammer.Appearanceasshown.

ProgrammableLogicController（PLC）features：Adigitalelectroniccomputersoperatingsystem,designedforindustrialenvironmentapplicationsandsettings;Usingprogrammablememory,performinglogicoperationsinitsinternalstorage,sequencecontrol,timing,countingandarithmeticoperationinstruction,andthroughdigitalandanaloginputsandoutputs.Widerangeofapplications-notonlyhastheadvantageinthefieldofsequentialprogramcontrol,andmotioncontrol,processcontrol,networkcommunicationareasfavorably;PLCsystemisaflexible,easyexpansion,simpleprogramming,easytodebug,anti-interferenceability;8.2Programmableregulator

Programmableregulator--

Alsoknownassingle-loopcontroller,intelligentregulator,digitalregulator.Itconsistspredominantlyofmicro-processingunit,theprocessI/O(input/output)unit,thepanelunit,thecommunicationunit,ahardhandoperationunitandtheprogrammingunitandothercomponents.Appearanceasshown.

Programmableregulatorfeatures：Aninstrumentedmicro-controlcomputerEasytooperate,easytoprogram,convenientandflexibleDesignedwithoutconsideringthehardwaredesignoftheinterface,communicationJustuseaproblem-orientedconfigurationlanguagesoftwareprogrammingPowerprotection,self-diagnosticfunction,communicationsandotherfunctionsToformamulti-levelcomputercontrolsystem,toachieveavarietyofadvancedcontrolandmanagement

themostbasiccontrolunitinLarge-scaledistributedcontrolsystemSuitableforanalogsignalinacontinuousprocesscontrolsystem8.3BusIPC

BusIPC,isbasedonthetheversatilitycomputerbustechnologyandthemodularstructureofaspecialindustrialcontrol,commonlyreferredtoasindustrialcontrolcomputer,referredtoasindustrialcontrolmachineorIPC.BusIPCminiaturization,template,combination,standardizeddesignfeaturestomeettheneedsofdifferentlevelsandcontrolobject,andcanoperatereliablyinharshindustrialenvironments.Thus,itiswidelyusedinavarietyof