第一章計(jì)算機(jī)控制系統(tǒng)概述

1、Computer Control Technology,Hesheng Wang Department of Automation,SJTUSept.2011,Contact information,2-509,SEIEE Buildings34207252(o)13917707272wanghesheng@sjtu.edu.cn,Chapter 1 Overview,Outline,Course objectives an

2、d tasksThe main contentThe main ReferencesThe concept of computer control systemComputer Control System ‘s StructureTypical Forms Control law,1 Course objectives and tasks(1/2),Industrial control is an important a

3、pplication 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 theo

4、ry 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, t

5、he basic knowledge and basic application technology.,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 automat

6、ic control theory, modern control theory, computer theory and interface technology, computer control technology, motion control systems, process control systems.,2 The main content（1/4）,The main contents of the course i

7、nclude：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 contr

8、ol algorithm ；Model predictive control algorithm;Distributed Computer Control System ；Fieldbus technology,2 The main content （2/4）,Overview and process channel modulesAn overview of the computer control systemProces

9、s channel and data acquisition systemProcess control and numerical control,The main content （3/4）,Algorithm moduleDigital PID control algorithmDirect digital controller design methodModel predictive control algorithm

10、,2,2 The main content （4/4）,Advanced control moduleMicrocomputer control system design and application examplesDistributed Computer Control SystemFieldbus technology and applications,3 The main References,Modern comp

11、uter control system,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, s

12、oftware 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.,,,,4 The concept of computer-c

13、ontrolled 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 t

14、he controlled objectThe control procedure (4) ： ◆ Real-time data acquisition ◆ Real-time computing ◆ Real-time control ◆ Information management,4 The concept of computer-controlled s

15、ystem(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

16、◆ 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

17、 — A real-time system must be online system,5 Composition of the computer control system(1/4),Hardware components ◆ Host computer ：CPU、 RAM / ROM ◆ Regular peripherals ：Input, output and storage devic

18、es ◆ Input and output channels ：AI、AO、DI、DO ◆ Peripheral ： Various interfaces(Universal) ◆ Run console ：Display, function keys, numeric keys,5 Composition of the computer control system(2/4),Computer cont

19、rol system hardware block diagram,5 Composition of the computer control system(3/4),Software components ◆ System Software —Basic computer operation and management environment ◆ Application

20、software — Direct control program,5 Composition of the computer control system（4/4）,Network Structure ◆ Peer-to-peer network structure （Peer-to-Peer, P2P） — Peer-to-peer networking t

21、echnology ◆ Client / server architecture （Client/Server, C/S） — Each node function is different,6 Typical forms of computer control system(1/6),Data acquisition and monitoring system: the computer

22、 is not directly involved in the control process.,,Computer,A / D converter,Measuring element,Industrial objects,6 Typical forms of computer control system(2/6),Direct Digital Control, DDC — Computer participate i

23、n the closed loop control process,,,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

24、 different structures： ? SCC＋Analog regulator ? SCC＋DDC,6 Typical forms of computer control system （4/6）,SCC＋ Analog regulator SCC＋DDC,,,Management Command,Report,Artificial re

25、gulatory,Given value,Measured value,Multiplexer,Detector,Process of production,Management Command,Report,Artificial regulatory,Given value,Measured value,Multiplexer,Detector,Anti-multiplexer,Process of production,6 Typi

26、cal forms of computer control system （5/6）,Distributed Control System, DCS — Decentralized control and centralized management,,,,6 Typical forms of computer control system （6/6）,Fieldbus Control System, FCS ◆ A

27、 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

28、, realize the real open interconnection system structure,7 The control law of Computer control system 1/4,Sequence control and numerical control ◆ Belongs to open loop control mode ◆ Sequence control: according t

29、o certain time sequence and logical order — Timing control — Logic control ◆ Numerical control ： according to the given data to a certain procedure to control,7 The control law of Computer control syst

30、em（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,

31、 the most widely usedDirect digital controller design algorithm — Based on Z transform, sampling control systemModel predictive control — Control algorithm based on system input and output,7 The control law o

32、f Computer control system（4/4）,Intelligent control ◆ fuzzy control ◆ Expert system ◆ learning control ◆ Neural network control,7 The control law of Computer control system(3/4),The optimal

33、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 fu

34、nction 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.,8 Co

35、ntrol device types,1 Programmable controller,2 Programmable regulator,3 Bus industrial control,4 single chip microcomputer,5 Other control devices,,8.1 Programmable controller,The programmable logic controller -- Re

36、ferred 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 hi

37、gh-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.,Programmable Logic Controller （PLC） f

38、eatures ：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

39、, 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 c

40、ontrol, process control, network communication areas favorably;PLC system is a flexible, easy expansion, simple programming, easy to debug, anti-interference ability;,8.2 Programmable regulator,Programmable regulator--

41、 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

42、 hand operation unit and the programming unit and other components. Appearance as shown.,Programmable regulator features ：An instrumented micro-control computerEasy to operate, easy to program, convenient and flexibl

43、eDesigned without considering the hardware design of the interface, communicationJust use a problem-oriented configuration language software programmingPower protection, self-diagnostic function, communications and ot

44、her functionsTo 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

45、 continuous process control system,,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 compu

46、ter, 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

47、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.,,8.4 Single chip microcomputer,Ultr

48、a 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 modula

49、tor, 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 consump

50、tion, 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 contr

51、ol, intelligent instruments, peripherals, household appliances control, robotics, military equipment is widely used.,8.4 Single chip microcomputer,8.5 Other control devices,Distributed control system and fieldbus control

52、 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.,,Summ

53、ary,Course objectives and tasksThe main content of this courseThe main reference literatureThe concept of computer control systemControl system, open loop closed-loop, offline, online, real time, controls four tasks

54、Composition of the computer control systemHardware, software, hosting, interface, channel, testing to change devices, peripherals, work station, objectTypical forms of computer control systemmonitoring, DDC, SCC(SCC＋