1. Computer Control Technology Hesheng Wang Department of Automation,SJTU Sept.2011

2. Contact information 2-509,SEIEE Buildings 34207252(o) 13917707272 wanghesheng@sjtu.edu.cn

3. Chapter 1 Overview

4. Outline 1. Course objectives and tasks 2. The main content 3. The main References 4. The concept of computer control system 5. Computer Control System ‘s Structure 6. Typical Forms 7. Control law

5. 1 Course objectives and tasks(1/2) Industrial control is an important application field of computer, the computer control is developed in order to meet the needs of this field and a professional technology 。 Task: it mainly studies how to apply computer technology and automatic control theory in industrial production process, and designed a computer control system that is needed. Purpose: it is to make students understand and master the single-chip as the core of the control system of hardware, software, the basic knowledge and basic application technology.

6. 1 Course objectives and tasks (2/2) This course is one of the professional basic courses and professional backbone course of the automation. what course ？ The automatic control theory, modern control theory, computer theory and interface technology, computer control technology, motion control systems, process control systems.

7. 2 The main content （ 1/4 ） The main contents of the course include ： The composition and classification of the computer control system ； Computer control system design method of the process channel ； Digital process control technology ； Digital PID algorithm ； Direct digital control algorithm ； Model predictive control algorithm; Distributed Computer Control System ； Fieldbus technology

8. 2 The main content （ 2/4 ） Overview and process channel modules An overview of the computer control system Process channel and data acquisition system Process control and numerical control

9. The main content （ 3/4 ） Algorithm module Digital PID control algorithm Direct digital controller design method Model predictive control algorithm 2

10. 2 The main content （ 4/4 ） Advanced control module Microcomputer control system design and application examples Distributed Computer Control System Fieldbus technology and applications

11. 3 The main References AuthorTitlePressYear XIE Jianying et al. Micro-computer control technology (3 rd edition) National Defense Industry Press 2001 XI Yu-Geng et al. Predictive ControlNational Defense Industry Press 1991 Jin Yihui et al.Process ControlTsinghua University Press 1995 Yu Haisheng et al. Microcomputer control technologyTsinghua University Press 1999 Zeng-Qi Sun et al. Computer Control Theory and ApplicationsTsinghua University Press

12. Modern computer control system

13. 4 Computer control concept (1/3) The computer control system is the use of the computer to achieve automatic control system of the production process. The computer control system (including hardware, software and network structure) is composed of two parts including the controlled objects and the computer body. The following figure is a typical deviation control computer control system. Controller (Computer) controlled object (The production process)

14. Controller (Computer) Controlled object (Process of production)

15. 4 The concept of computer-controlled system （ 2/3 ） In the structure can be divided into open loop systems and closed-loop system ◆ Open-loop: simple structure, poor performance ◆ Closed loop: the need of the feedback signal of the controlled object The control procedure (4) ： ◆ Real-time data acquisition ◆ Real-time computing ◆ Real-time control ◆ Information management

16. 4 The concept of computer-controlled system(3/3) A few common terms ◆ Online ： Computer control system is directly connected with the production equipment ◆ Offline ： The computer control system is disconnected with the production equipment ◆ Real time ： Computer input, output, and calculations are completed within the specified time ◆ The relationship between online and real-time — An online system is not necessarily real-time systems — A real-time system must be online system

17. 5 Composition of the computer control system(1/4) Hardware components ◆ Host computer ： CPU 、 RAM / ROM ◆ Regular peripherals ： Input, output and storage devices ◆ Input and output channels ： AI 、 AO 、 DI 、 DO ◆ Peripheral ： Various interfaces(Universal) ◆ Run console ： Display, function keys, numeric keys

18. 5 Composition of the computer control system(2/4) Computer control system hardware block diagram

19. 5 Composition of the computer control system(3/4) Software components ◆ System Software — Basic computer operation and management environment ◆ Application software — Direct control program

20. 5 Composition of the computer control system （ 4/4 ） Network Structure ◆ Peer-to-peer network structure （ Peer-to-Peer, P2P ） — Peer-to-peer networking technology ◆ Client / server architecture （ Client/Server, C/S ） — Each node function is different

21. 6 Typical forms of computer control system(1/6) Data acquisition and monitoring system: the computer is not directly involved in the control process. Display terminal Printer Sampler Computer A / D converter Measuring element Industrial objects

22. 6 Typical forms of computer control system(2/6) Direct Digital Control, DDC — Computer participate in the closed loop control process

23. 6 Typical forms of computer control system （ 3/6 ） Supervisory Computer Control, SCC — Given value control, the effect depends on the accuracy of mathematical model — Two different structures ： SCC ＋ Analog regulator SCC ＋ DDC

24. 6 Typical forms of computer control system （ 4/6 ） SCC ＋ Analog regulator SCC ＋ DDC Management Command Report Artificial regulatory Given value Measure d value Multiplexe r Detector Process of production Management Command Report Artificial regulatory Given value Measure d value Multiplexer Detector Anti- multiplexer Process of production

25. 6 Typical forms of computer control system （ 5/6 ） Distributed Control System, DCS — Decentralized control and centralized management

26. 6 Typical forms of computer control system （ 6/6 ） Fieldbus Control System, FCS ◆ A new generation of distributed control structure ◆ With "workstations and field bus instrument" layer structure complete DCS three-tier structure function ◆ Can reduce costs, improve reliability, realize the real open interconnection system structure

27. 7 The control law of Computer control system 1/4 Sequence control and numerical control ◆ Belongs to open loop control mode ◆ Sequence control: according to certain time sequence and logical order — Timing control — Logic control ◆ Numerical control ： according to the given data to a certain procedure to control

28. 7 The control law of Computer control system （ 2/4 ） PID Proportional-Integral-Differential ） ◆ According to the deviation of the proportional, integral and differential control ◆ Algorithm is simple, the most mature technology in the continuous system, the most widely used Direct digital controller design algorithm — Based on Z transform, sampling control system Model predictive control — Control algorithm based on system input and output

29. 7 The control law of Computer control system （ 4/4 ） Intelligent control ◆ fuzzy control ◆ Expert system ◆ learning control ◆ Neural network control

30. 7 The control law of Computer control system(3/4) The optimal control — The choice of appropriate control law, the working conditions of the control system of constant and certain physical statistics under the restrictions of the system of some performance index, evaluation function to obtain the maximum or minimum value. Adaptive control — Designed controller can still can make the performance evaluation function to achieve the optimal under the condition of the statistical change.

31. 8 Control device types 1 1 Programmable controller 2 2 Programmable regulator 3 3 Bus industrial control 4 4 single chip microcomputer 5 5 Other control devices

32. 8.1 Programmable controller The programmable logic controller -- Referred to as the programmable controller or PLC, is the product of the combination of computer technology and the concept of relay logic control, low-end alternative of the conventional relay logic control device, the high-end for a high-performance industrial control computer. It mainly consists of a CPU, memory, input components, output components, power supply and programmer. Appearance as shown.

33. Programmable Logic Controller （ PLC ） features ：  A digital electronic computers operating system, designed for industrial environment applications and settings;  Using programmable memory, performing logic operations in its internal storage, sequence control, timing, counting and arithmetic operation instruction, and through digital and analog inputs and outputs.  Wide range of applications - not only has the advantage in the field of sequential program control, and motion control, process control, network communication areas favorably;  PLC system is a flexible, easy expansion, simple programming, easy to debug, anti-interference ability;

34. 8.2 Programmable regulator Programmable regulator-- Also known as single-loop controller, intelligent regulator, digital regulator. It consists predominantly of micro- processing unit, the process I / O (input / output) unit, the panel unit, the communication unit, a hard hand operation unit and the programming unit and other components. Appearance as shown.

35. Programmable regulator features ：  An instrumented micro-control computer  Easy to operate, easy to program, convenient and flexible  Designed without considering the hardware design of the interface, communication  Just use a problem-oriented configuration language software programming  Power protection, self-diagnostic function, communications and other functions  To form a multi-level computer control system, to achieve a variety of advanced control and management  the most basic control unit in Large-scale distributed control system  Suitable for analog signal in a continuous process control system

36. 8.3 Bus IPC Bus IPC, is based on the the versatility computer bus technology and the modular structure of a special industrial control, commonly referred to as industrial control computer, referred to as industrial control machine or IPC. Bus IPC miniaturization, template, combination, standardized design features to meet the needs of different levels and control object, and can operate reliably in harsh industrial environments. Thus, it is widely used in a variety of control applications, in particular, is more than a dozen to several tens of medium-sized loop control system.

37. 8.4 Single chip microcomputer Ultra miniaturization of Single Chip Microcomputer (Single Chip Microcomputer) hereinafter referred to as SCM was born. It is the CPU, memory, string parallel I/O port, timer/counter and A/D converter, the pulse- width modulator, the graphics controller features are all integrated on A large scale integrated circuit chip, constitute A complete fairly control function of the microcontroller. Because the SCM has small volume, low power consumption, reliable performance, low cost, easy function extension, use convenient and flexible, easy to production, and many other advantages, especially the powerful control oriented ability, make it in the industrial control, intelligent instruments, peripherals, household appliances control, robotics, military equipment is widely used.

38. 8.4 Single chip microcomputer

39. 8.5 Other control devices Distributed control system and fieldbus control system -- Initially,it is in the form of a control program, but soon greatly respected by the industrial market, which has become home and abroad automation manufacturers are scrambling to offer two typical device.

40. Summary 1. Course objectives and tasks 2. The main content of this course 3. The main reference literature 4. The concept of computer control system Control system, open loop closed-loop, offline, online, real time, controls four tasks Composition of the computer control system Hardware, software, hosting, interface, channel, testing to change devices, peripherals, work station, object 5. Typical forms of computer control system 6. monitoring, DDC, SCC(SCC ＋ Analog regulator, SCC+DCC), DCS, FCS 7. Control law of the computer control system 8. Control device types