The aim of the course is to describe the technological aspects for the realization of control systems. In particular, the main objective is to provide the student with some basic knowledge needed for the choice of components and architectures of a control system for applications in the field of industrial automation, robotics, domotics and automotive. The characteristics of the control loop will be discussed in relation with the physical processes to be controlled and with the temporal constraints deriving from them on the computational and communication tasks.
Lectures and class exercises
1. GENERAL INFORMATION ON THE ARCHITECTURE OF CONTROL SYSTEMS
General information on the technological architecture of control systems; structural schemes. Analog / digital and digital/analog conversion techniques for controllers.
2. DEVICES (SENSORS AND ACTUATORS) FOR THE REALIZATION OF CONTROL SYSTEMS
Overview of the main classes and principles of operation of sensors and actuators in various fields, such as: industrial automation, robotics, automotive and domotics
PID controller. Tuning methods for the PID: tuning for dynamic performance; Ziegler and Nichols method in closed loop. Implementation of digital PID. Practical aspects of the application of PID. Microcontrollers. Control loop characteristics in different scenarios including: automation, robotics and automotive.
Effect of the control loop and time constraints on the tasks at the operating system level (knowledge of the delay times between input and output) and on the communication (knowledge of the latency times of the messages exchanged by the sensors to the controllers and from these to the actuators)
4. OPTIMIZATION TECHNIQUES
Overview of optimization techniques. Introduction to Linear programming, solution methods for linear programming problems
Exercises WITH MATLAB
MATLAB exercises for the subjects of the course.
1. C. Bonivento, L. Gentili, A. Paoli, Sistemi di automazione industriale- Architetture e controllo, Ed. McGraw-Hill.
2. G. Magnani, G. Ferretti, P. Rocco, Tecnologie dei sistemi di controllo, Ed. McGraw-Hill.
3. F. S. Hillier, G.J. Liebermann, Introduction to Operations Research, Ed. McGraw Hill.