Learning objectives
The course, intends to deepen knowledge of automatic control systems by introducing advanced concepts, methods and tools for modeling and control of real industrial processes and in particular robotics-oriented, electrical, mechanical and thermal processes.
Models of simple dynamic systems, components for measurement, conditioning and actuation, and their graphical representation will be studied.
Industrial controllers and their calibration will be studied.
Advanced strategies and schematics and design methods for control systems especially digital ones will be studied. in laboratory hours, the use of the most popular simulation and design tools will be learned.
Prerequisites
Recommended propaedeuticities:
Fundamentals of Automatic Controls
Course unit content
- Introduction to industrial controls: (1 hour)
Process control, feedback control paradigm, P&I Diagrams.
- Elements of modeling: (3 hours)
Conservation equations of fluid processes. Elements of mechanics. Electromechanical conversion.
- Sensors and transducers: (2 hours)
Generalities. Temperature sensors. Pressure sensors. Flow sensors. Level sensors. Position sensors. Force sensors. Acceleration sensors. Signal conditioning. A/D and D/A conversion.
- Actuators for matter and energy flows: (2 hours)
Hydraulic circuits Valves. Pumps. Schematics.
- Actuators for motion control: (2 hours)
Constant excitation (permanent magnet) brush-type DC motors. Brushless DC motors. Current control. Power amplifiers. PWM control. Hints at hydraulic actuators.
- Design of Industrial Controllers: (12 hours).
Control design. The PID algorithm. Control laws. Architectures (Single loop simple, relay with hysteresis, split range. Cascade control, ratio control, feed-forward, override, dead time compensator, adaptive control). Anti-windup. Internal Model Control (IMC), Smith's predictor.
PID calibration techniques. Auto-tuning.
- Advanced general techniques: (10 hours)
Feed forward compensators. Prefiltering. Dynamic inversion technique. Smith's predictor. Multivariable control. Decoupling of MIMO systems. Direct synthesis. Space of states.
- Motion control: (8 hours)
Motion planning. Transmission organs of motion. Position and velocity control. Hints at the control of hydraulic actuators.
-Discretization of controller and digital implementation: (8 hours)
Digital implementation of industrial controllers. Microcontrollers, PLCs, other architectures.
-Matlab and Simulink lab.
Full programme
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Bibliography
G. Magnani, Gianni Ferretti, Paolo Rocco, “tecnologie dei sistemi di controllo”, seconda edizione , McGraw-Hill Italia, 2007.
P. Bolzern, R. Scattolini, N. Schiavoni: Fondamenti di Controlli Automatici – 4° Ed., McGraw-Hill, Milano, 2015.
Teaching methods
The course is conducted through oral lectures involving theoretical topics and and a series of exercises carried out on a computer in the Matlab/Simulink (or Scilab/Xcos) environment possibly making use of simple process simulation harware. Lectures will normally be conducted in-person, but could be conducted remotely in any pandemic emergency situations.
Assessment methods and criteria
The examination is oral. During the oral questioning, the candidate is required to cover the theoretical topics covered in class and to critically discuss
of a project work (a report of which must be submitted in computer format via e-mail at least 15 days before the examination date) in which the candidate will carry out a project or in-depth study chosen from a list of topics proposed by the lecturer well in advance, complete with theoretical foundations, practical implementation, numerical solution and possible simulations.
Online registration for the roll call and submission of project work are necessary and mandatory conditions for taking the exam.
The oral examination is scored on a 0-30 marks scale.
If the sum of the scores of the criteria listed below reaches 32 marks, "30 cum laude" is awarded.
The evaluation criteria are as follows:
- Mastery of knowledge of the foundational cores of the discipline: 10 marks
- Mastery of engineering skills specific to the course, analysis and understanding of proposed cases and problems, methodologies and procedures used to solve them: 9 marks
- Completeness in carrying out the project work, consistency and correctness of the results and
of the technical and/or technical-graphic papers produced: 9 marks
- Ability to argue, connect and synthesize information in a
clear and comprehensive way, using with relevance the specific technical language: 4 marks
The outcome of the examination is communicated immediately upon completion of the oral test.
Other information
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