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Introduction
This course is a technology level, algebra based, introduction to feedback control systems. The
response of integral and derivative control modes to steady state error voltages can be
presented algebraically. Actual control system response is measured and analyzed in the
accompanying laboratory.
It is not possible to perfectly synchronize the lecture presentation with the laboratory
experiments. The experiments depend on the students previous knowledge of semiconductors
and operational amplifiers. It is also necessary to occasionally cover some topics out of the
intended topic sequence, depending on which lab experiments are assigned.
Learning Objectives
Upon successful completion of this course students will be able to:
1.
Describe the basic operating principles of on-off, two point, three point, proportional,
proportional plus integral, and proportional plus integral, plus derivative mode control
systems.
2.
State the fundamental differences between open loop and closed loop control systems.
3.
Evaluate a control systems response in terms of response time, settling time, over
shoot, under shoot, and proportional error, as applicable.
4.
Calculate and/or determine the transfer functions of the basic components of typical
control systems, including sensors, actuators, amplifiers, integrators, differentiators,
error detectors, and summers.
5.
Use transfer functions to predict and/or determine the operation of control systems.
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6.
7.
8.
Explain the operating principles of and applications of power control devices and
circuits, including power transistors, thyristors, class A amplifiers, switch mode drivers,
class A power supplies, and switch mode power supplies.
9.
Be able to build, troubleshoot, and evaluate the performance of control systems and
control system components.
Week 3
Thyristors and solid state relays
SCRs and TRIACs in AC power control circuits. Thyristor trigger circuits. Applications to
solid state relays.
Week 4
Power supplies and voltage regulation
Power supply transformers and rectifiers. Linear class A voltage regulators. Review of
basic op-amp amplifiers and comparators.
Week 5
Converters and inverters
Switch-mode converters and inverters. Power supply applications. Earth ground,
ground loops, and isolation.
Week 6
Sensor applications in control systems
Position, Angular velocity, and temperature sensors. Other sensors covered briefly.
Open loop versus closed loop control systems. One, two, and three point feedback
control systems. Application of a temperature sensors in a two point temperature
control system.
Week 7
Feedback control systems
Operating principles of feedback control systems. Control modes: proportional,
proportional plus integral, and PID. Evaluation of control system performance.
Proportional mode oven temperature controller.
Week 8
Direct Current Motors
Permanent-magnet motors, DC motor control circuits, brushless DC motors, servo
systems. Speed-Torque characteristics. Electrical and mechanical energy, work, power,
and torque. Application of a photo-interrupter in a tachometer circuit for motor speed
control.
Week 9
Motor control circuits and systems
Class A and switch mode driver circuits and servo circuits. PI and PID speed control
circuits.
Week 10
Permanent-magnet stepper motors
Bi-polar and uni-polar. Micro-stepping. Effect of load, modes of operation, control
circuits.
Grading:
To be determined by instructor. Typically by midterm and final exams, homework, and
laboratory. Laboratory grade should account for about 30% of the final grade.
Instructional Resources
Introduction to Control System Technology, by Robert N. Bateson
Publisher: Prentice Hall; 7 edition (July 5, 2001), ISBN-13: 978-0130306883
Control System Experiments for Technology, by Sid Antoch
Publisher: ZAP Studio, ISBN 978-1-935422-13-6
(Contents Below)
Experiment 1: Power Control Methods
This exercise investigates and compares the switching properties of an electromagnetic relay
and a MOSFET transistor. Pulse width modulation (PWM) is also introduced.
Experiment 2: Power Control Methods / TRIAC
AC power is controlled using an optically triggered TRIAC. This is also an exercise in making
measurements in a circuit that has two different grounds.
Experiment 3: Switch Mode Voltage Boost Converter
This boost converter converts a 6 volt DC power supply to a 12 to 18 volt DC power supply using
switch mode technology.
Experiment 4: On - Off Temperature Controller
Temperature of a small oven is controlled. Experiment demonstrates two point control using a
Schmitt trigger.
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1.
V L
i
.
t
c)
Calculate the maximum peak value and polarity of Vb when the SCR is on.
d)
Calculate the power delivered to the 50 ohm resistor if the SCR fires 4.17
milliseconds after the zero crossings of the 60Hz sinusoid.
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3.
The position an object is controlled by a linear motion proportional control system. It has
a gain of Kp = 25 lb/inch. A frictional force acts on the controlled variable with a constant
force of 0.5 lb.
a) Find the length of the dead band.
b) Calculate the force applied by the system when the controlled variable is 8 inches
from the set point.
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4.
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5.
b)
b)
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6.
Op-amp, U2, in the circuit above is an amplifier that saturates at +6 volts and -6 volts.
a)
Calculate the proportional band of the circuit (the range of the voltage Vs over
which the op-amp, U2, does not saturate).
b)
Calculate the proportional band of the circuit if the 100k resistor is changed to
10k.
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7.
b)
c)
As a filter, what is the circuits cutoff frequency, and is it low pass or high pass
filter?
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8.
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9.
b)
c)
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10.
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11.
b)
c)
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PCC CCOG
EET272 CCOG
3/28/2010
Sid Antoch
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