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1.1 JIntroduction
אאF(Automatic Control systemsאאאאאאאאאאאKאKאאאא
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Kא אאאאאKא
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אאאאFComputersEאא)Robot (אאא
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FאEnvironmentKEאא
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אא אא אאאאWא
(1-1)
אאאאא
(controlled variable)
عناصر التحكم
+
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אא)Controlled Variable (
K אאאא א א אK א א אא א א א
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א(Controller)
אאאאאאאאאאאאאאאאאאאKא
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4.1Laplace Transformation
Laplace Transformations א אאאאאאאאאאא
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1.4.1אא אאאאא
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12
11
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t n e-at (t=1,2,3,…)9
t n (n=1,2,3,…)8
cos ωt7
sin ωt6
te-at5
e-at4
t3
Unit step 1(t)2
1 unit impulse δ(t)1
F(s) f(t)
17
16
15
e-atcos ωt14
e-atsin ωt13
12
11
10
t n e-at (t=1,2,3,…)9
t n (n=1,2,3,…)8
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te-at5
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Unit step 1(t)2
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s
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5.1אInverse Laplace Transformation
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6.1אאClassification of Control Systems
אW אאאאOpen loop control system
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א)10-1 (אאאאאK
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אאאאאאאאאאאאF
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عناصر التحكم النھائي
+
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)11-1 (אאblock diagram،
אEאאאאאאאcontrollerאא
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7.1אאTransfer Function
אאאTransfer Function אאאאאאאאInitial Conditions
EFKWאאEאFאאאא
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m)(ntrbdt
tdrb
dt
trdb
dt
trdb
dt
trdb
tcadt
tdca
dt
tcda
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m
m
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א r = input of the system
אאאאאאאאאW
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8-1
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0.1 c"(t)+2c'+c(t) = 4r(t)
אאWאאאאאאא
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אWאC(s)אאא )0.1S2+2S+1)C(s)=4R(s(
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121.0
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אWאא
C(s) = E(s)G(s) I E(s) = R(s) - B(s) II B(s) = C(s)H(s) III
אIIIאIIאאI C(s) = [R(s) - C(s)H(s)]G(s)
אא
C(s)[(1+G(s)H(s)] = R(s)G(s)
C(s) R(s)אאאא
)24-1( )()(1
)(
)(
)()(
sHsG
sG
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אא
G(s)אאאforward path transfer functionא
E(s)
C(s)G(s)
H(s)אאאfeedback transfer functionא
C(s)
B(s)H(s)
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)(
sHsG
sG
R(s) C(s)
EFאא
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38
8.1אאBlock Diagram
אאBlock diagramאאאאאFאאאאאE
אאאאאאאאKאאא
blocksאאאאtransfer functionאאK
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39
1.8.1אאElements of Block Diagram
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E אBlocksWאא E אBranch pointsWאאא
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40
א א E Straight Line WאאאאאאאאאK
אEArrows WKאאאא Wאאאאא
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41
2.8.1אאאBlock Diagram Simplifications
אאאאאאאאאEאאFא
אאאאאאאאאא؛אאאא
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42
אאאEF
Y = G 1(X G 2)Y 5
Y = G 1(X G 2 4
Y = G 1X
± G 2Xحذف مستطيل (عنصر) من
أحد المسارات األمامية
3
Y = G 1X
± G
عنصران متصالن
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2
Y = (G G )X
عنصران متصالن
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المكافيالمخطط المخطط األصلي
العالقة الرياضية التي اإلجراء تربط الدخل بالخرج
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G 1 G2X Y1 2X Y G1 G2X Y
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43
G1 G4 G2 C R
H1
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: 9-1
אאאKאאאא
9
8
7
Z = GX ± Y نقل وصلة تجميع
أمام صندوق
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Y = GXY =
Y = GXY =
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1 Y
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111
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Y
X Y
GY
X Y
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44
Wא ١ JאאאG1,G4W
٢ JאאאG3,G2W
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G1 G4 G1G4 =
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41
1 HGG
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41
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45
אאאאא
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23241
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G1G2 G3 C
G1 G2 G3 CR
H
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46
אEFWאא
HGG1
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HGG1
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R(s)
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21
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C(s)
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EFאא
אאאא
47
א: אאאאאאא
אאאאG1W
E
E
E
E
232121
321
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48
Wאא
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9.1אSignal Flow Graph
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دخل عقدة
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EFאא
אאאא
49
אאאא
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a
c
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c
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X3
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ab
bc
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ab1 -bc ab
1 -
EFאא
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50
Fאא17-1אEW
١ Jא2XFאa17-1E12 aXX ٢ Jאאאאאא
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C(s)E(s) G(s)
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1
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R(s)
1
E(s)
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51
2.9.1Mason's Rule
אאGEאFאאאאאאא
אאאKאאאאW
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cb LL,
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k=אאאאא k
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52
12-1
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Wא ١ JאW
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53
٣ JאאאאW
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54
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אאW ١ JאW
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R(s)
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EFאא
אאאא
55
؟אאאאאא -١
אאאאאא -٢
٣- אאאאא
٤- אאאא؟אא א؟
אאאאאאאא -٥
٦- Wאאאא
u(t)2cos2sing(t) (d) u(t)2sin2g(t) )(
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s
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EFאא
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56
Y5 Y2 Y3
Y4 Y5 -H1 -H2
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)(
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EFאא
אאאא
57
Y5
G3
Y2 Y3 Y4 Y5 -H1 -H2
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G1 G3
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Y5
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G4
1 G2
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EFאא
אאאא
58
אאאאאאאאאא
EFאא
אאאא
59
אאW
א EאF אאאKא
אאאW ١K אKא
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EFאא
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60
1.2
אאאאאאאError SignalKאאא
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61
2.2אאאMathematical Modeling
א א א א א א א אאאאא
אאאאאאאKאאאאא
א א אא אאאאאK
אאאאאאא א א א אא אא
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Wאא )1-2 ( )()()( tvtvte cr
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R
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EFאא
אאאא
62
)()( tRitvr אאאאK
dt
tdvCti c )(
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dt
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EFאא
אאאא
63
אWאאאא
אאאא،אאאאאאאKאאsאא 2-2
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64
א4-2) (W
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c
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cc
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2
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65
3-2 אאאTypes of Industrial Controller
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66
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67
2.3.2אאContinuous Controllers אאא
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p
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68
אאאאPKאאKPK א
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t t
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EFאא
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69
2.2.3.2אאI-Controller
אאאאF7-2EKאאאאאא
אFR=CEאאK
אאאאW
2)-(7 )(
1
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s
K
E(s)
P(s)sG
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t
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70
אF7-2EW
C a t Kp(t)
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I
t
I
2)-(8 0
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IKK אIKאreset rateאאאאCאRKאאאIK
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t t
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71
3.2.3.2אאD-Controller
אאאא
F9-2KEאאFאrate controllerEאK
אאFאEאKאאאאאאא
אאאאאאאאFK9-2אאEאאאאUnit Step FunctionK
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אאאאFאאKEאFא EאאKאאאא
אאאאא
א
E(s)
א
אKDS
אאא
p(s)
א
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0
e(t)
t 1 t
p(t) א
0
EFאא
אאאא
72
אאאא
אאאKאא
4.2.3.2אאאPI-Controller אאאאא
אאPKאאאאF10-2Eאא
אאאPKאאאIKאאKאאאIK1TI
אאאFאSTI1KEאאאאIIP Tأو ,K ,Kאאא
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E(s)s
KE(s)KP(s)
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א
P(s)E(s)
א
K P
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+
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73
F10-2E
s
KK
E(s)
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P SGC
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t t
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EFאא
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74
PKאאIKאאDKאאאאאאא
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K PK P
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75
4.2אאSensors and Transducers
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AC Motor
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Control system
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אא א Modern Control System, Edison Wesley,
1990 R. C. Dorf
Control System Design, Saunders College
Publishing, 1993. C. T. Chen
Feedback Control System, Prentice Hall,
1990. John Van De Vegta
Automatic Control Systems, Prentice Hall B. Kuo Process Control Instrumentation Technology,
Prentice Hall, 2002 Johnson, C. D
Introduction to Control Systems Technology,
Prentice Hall, 2002 Bateson, R. N.
Modern control Engineering, Prentice Hall,
1997 Ogata, K.
Modern Control Systems, Addison Wesley,
1998 Dorf, R. C. and Bishop, R. H.
Introduction to control system technology;7th
edition1993 Robert N. Bateson
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