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基本説明
Presents the theory and application of microcontroller based automatic control systems.
Full Description
Combines the theory and the practice of applied digital control
This book presents the theory and application of microcontroller based automatic control systems. Microcontrollers are single-chip computers which can be used to control real-time systems. Low-cost, single chip and easy to program, they have traditionally been programmed using the assembly language of the target processor. Recent developments in this field mean that it is now possible to program these devices using high-level languages such as BASIC, PASCAL, or C. As a result, very complex control algorithms can be developed and implemented on the microcontrollers.
Presenting a detailed treatment of how microcontrollers can be programmed and used in digital control applications, this book:
Introduces the basic principles of the theory of digital control systems.
Provides several working examples of real working mechanical, electrical and fluid systems.
Covers the implementation of control algorithms using microcontrollers.
Examines the advantages and disadvantages of various realization techniques.
Describes the use of MATLAB in the analysis and design of control systems.
Explains the sampling process, z-transforms, and the time response of discrete-time systems in detail.
Practising engineers in industry involved with the design and implementation of computer control systems will find Microcontroller Based Applied Digital Control an invaluable resource. In addition, researchers and students in control engineering and electrical engineering will find this book an excellent research tool.
Contents
Preface xi
1 Introduction 1
1.1 The Idea of System Control 1
1.2 Computer in the Loop 2
1.3 Centralized and Distributed Control Systems 5
1.4 Scada Systems 6
1.5 Hardware Requirements for Computer Control 7
1.6 Software Requirements for Computer Control 9
1.7 Sensors Used in Computer Control 14
1.8 Exercises 24
2 System Modelling 27
2.1 Mechanical Systems 27
2.2 Electrical Systems 37
2.3 Electromechanical Systems 42
2.4 Fluid Systems 44
2.5 Thermal Systems 49
2.6 Exercises 52
3 The PIC Microcontroller 57
3.1 The PIC Microcontroller Family 57
3.2 Minimum PIC Configuration 61
3.3 Some Popular PIC Microcontrollers 66
3.4 Exercises 75
4 Programming PIC Microcontrollers in C 77
4.1 PICC Lite Variable Types 78
4.2 Variables 80
4.3 Comments in Programs 81
4.4 Storing Variables in the Program Memory 82
4.5 Static Variables 82
4.6 Volatile Variables 83
4.7 Persistent Variables 83
4.8 Absolute Address Variables 83
4.9 Bank1 Qualifier 83
4.10 Arrays 84
4.11 ASCII Constants 86
4.12 Arithmetic and Logic Operators 86
4.13 Number Bases 89
4.14 Structures 89
4.15 Program Flow Control 91
4.16 Functions in C 96
4.17 Pointers in C 99
4.18 Pre-processor Commands 101
4.19 Accessing the EEPROM Memory 104
4.20 Interupts in C Programs 104
4.21 Delays in C Programs 105
4.22 Structure of a C Program 105
4.23 PIC Microcontroller Input-Output Interface 107
4.24 Exercises 116
5 Microcontroller Project Development 119
5.1 Hardware and Software Requirements 119
5.2 Program Development Tools 120
5.3 Exercise 129
6 Sampled Data Systems and the z-Transform 131
6.1 The Sampling Process 131
6.2 The z-Transform 136
6.3 Pulse Transfer Function and Manipulation of Block Diagrams 154
6.4 Exercises 166
7 System Time Response Characteristics 171
7.1 Time Response Comparison 171
7.2 Time Domain Specifications 174
7.3 Mapping the s-Plane into the z-Plane 177
7.4 Damping Ratio and Undamped Natural Frequency in the z-Plane 178
7.5 Damping Ratio and Undamped Natural Frequency Using Formulae 181
7.6 Exercises 183
8 System Stability 187
8.1 Factorizing the Characteristic Equation 187
8.2 Jury's Stability Test 189
8.3 Routh-Hurwitz Criterion 192
8.4 Root Locus 194
8.5 Nyquist Criterion 201
8.6 Bode Diagrams 205
8.7 Exercises 208
9 Discrete Controller Design 213
9.1 Digital Controllers 214
9.2 PID Controller 230
9.3 Exercises 137
10 Controller Realization 243
10.1 Direct Structure 243
10.2 Cascade Realization 246
10.3 Parallel Realization 249
10.4 PID Controller Implementations 250
10.5 Microcontroller Implementations 253
10.6 Choice of Sampling Interval 263
10.7 Exercises 267
Further Reading 268
11 Liquid Level Digital Control System: a Case Study 269
11.1 The System Schematic 269
11.2 System Model 270
11.3 Identification of the System 273
11.4 Designing a Controller 274
11.5 Conclusions 278
Appendix A Table of z-Transforms 283
Appendix B MATLAB Tutorial 285
Index 307
