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نسخة من أساسيات التحكم الآلي PDF
نسخة من أساسيات التحكم الآلي PDF
W
K J
K J
K J
K J
K J J
K J J
K J J
K J J
K J J
K J
K J J
K J J
K J
EF K J J
K J J
K J
K J
K J
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W
W
K
EF
K
K
--
Introduction J K J
EControl-SystemF
K K
J J JF
KE
K
KKK
K
W
KKKK
Transportation F
--
KEEnvironmentFEUrban PlanningFESystems
EComputersF
KERobotF
KWEOutputF
EInputFWEErrorF
KKEOutputF
WEReferenceF
K
WE-F
E-F
EFK
--
E1J1F
K K
WE2-1F
KE2-1F
FK
KE
--
E2J1F
WE3-1F
EFEa3-1F
EF
K
K
EF
--
Pneumatic valve
Controller
Inflow
Outflow
(a)
Desired level
Controller
Pneumatic
valve
Water tank
Actual level
Float
(b)
E3J1F
Eb3-1F
--
WEFE4-1F
EF
Ea4-1F
EFEF
K Eb4-1FK
--
Brain
(a)
E8J1F
Input
Brain
Hand
Muscle
Hand
Output
EF
Eye
(b)
E4J1F
WE5-1F
ENumerical ControlFE5-1F
KENumbersF
KEF
KEReaderF
K
--
EF
Frequency-modulated pulse
Controller
Reader
Tachometer
D-A
conv
Pulse D-A
conv
Tape
Amp
Motor
Cutter
Feedback
E5J1F
K
K
WE6-1F
K
- -
WE7-1F
K
E6-1F
Eblast furnaceF
F
KE
12
Iron ore 3
4
Coke
Limestone
Top gas
Blast
furnace
Hot air
Steam
Oxygen
Oil
Slag
Pig iron
Command
Computer
Command
Reference input
E6J1F
KE
K
K
- -
K
K
KK
WE8-1F
E7-1F
PulsesK
J U a
EFK
Ua
E7J1F
- -
KK
K
Block Diagram
K J J
elements
KBlock diagramK
blocks
signaloutputsignalinput
Ktransfer function
E8-1FK
X (s)
G (s)
Y(s)
E8J1F
- -
J
W
Y(s) = G(s)X(s)
G(s) =
Y(s)
X(s)
Summing Element J
KE9-1FEF
- -
X1(s)
X2(s)
+ +
X3(s)
Y(s)
+
Xn(s)
E9J1F
W
Y(s) = X1 (s) + X 2 (s) X 3 (s) + ................ + X n (s)
Error Detector J
elementcomparing Ksignalfeedback
KE10-1F
- -
R(s)
E(s)
C(s)
E10J1F
(1 - 1)
Branch point J
C(s)
KE11-1F
K
- -
C(s)
C(s)
C(s)
E11J1F
Construction of Block Diagram K J J
K
K J
J
K
K J
J
K
J
K
E1-3FK
- -
H,X,Y,ZPK
KS
Transformation
Equation
Combining Blocks
in Cascade
Y = (P1P2)X
Combining Blocks
In parallel; or
Eliminating a
Forward Loop
Y = P1 X P2 X
Removing a block
From a Forward
Path
Eliminating a
Feedback loop
Removing a Block
From a Feedback
Loop
Equivalent Block
Diagram
Block Diagram
P1
P2
P1
Y = P1(X
Y = P1(X
P2
P2Y) X
P2Y)
P1
P2
E J F
- -
P1 P2
X
Y = P1 X P2 X
P1 P2
P1 +
P2
P2
P1
1 P1 P2
X 1 +
P2
P1P2
Transformation
Equation
6a
Rearranging
Summing Points
Equivalent Block
Diagram
Block Diagram
Z=WXY
6b
Rearranging
Summing Points
Z=WXY
10
11
Moving a Summing
Point Beyond of a
Block
Moving a Takeoff
Point Ahead of a
Block
Moving a Takeoff
Point Beyond a
Block
Moving a Takeoff
Point Ahead of a
Summing point
Z = PX Y
Z = P(X Y)
Y = PX
Y = PX
P
P
P
1
P
Z=XY
Y
Y
Z
Moving a Takeoff
Point Beyond a
Summing point
1
P
12
Moving a Summing
Point Ahead of a
Block
Z=XY
Y
- -
X
Y
X
KE12-1FK
Input nodes
X4 (Source)
Mixed nodes
d
Input nodes
(Source)
X2
X3
X1
Output nodes
(Sink)
X3
E12J1F
K K
- -
Masons rule
KE13-1F
- -
(a)
X2
X1
b
(b)
X2
X1
ab
X1
X3
a
(c)
a+b
=
X2
X1
X1
X2
b
a
X1
(d)
X4
b
X2
X2
X1
X3
ab
X3
X1
X4
bc
X2
(e)
ac
X1
ab
1-bc
=
X1
X3
bc
E13J1F
WE13-1F
X 2 = aX1 Ea-F X 2 J
KEb-F
Ec-F
Ed-F J
WEe-F J
- -
x 3 = bx 2 , x 2 = ax 1 + cx 3
x 3 = abx 1 + bcx 3
x 3 = [ ab /(1 bc ] x1
KE14-1F
R(s)
G(s)
C(s)
G(s)
R(s)
E(s)
R(s)
G(s)
R(s)
C(s)
G(s)
1
E(s)
R(s)
C(s)
-H(s)
H(s)
N(s)
N(s)
R(s)
E(s)
G1(s)
G2(s)
C(s)
R(s)
G1(s)
E(s)
G2(s)
C(s)
-H(s)
H(s)
KE14J1F
K
P =
1
Pk k
k
W
(2 - 1)
- -
= determinant of graph
= JEFHEF
JEFHKKKKKK
1 La + Lb Lc Ld Le L f + ..........
a
b ,c
d ,e , f
La Z
a
Lb Lc Z
b ,c
Ld Le L f Z
d ,e , f
k k
WE9-1F
K
K C ( s)
R( s)
H2
R(s)
G1
C(s)
G2
G3
- -
H1
-H2
R(s)
G1
G2
G3
C(s)
C(s)
H1
-1
W
P1 = G 1G 2 G 3
L1 = G 1G 2 H 1
L 2 = G 2 G 3 H 2
L 3 = G 1G 2 G 3
= 1 (L1 + L 2 + L 3 )
= 1 - G 1G 2 H 1 + G 2 G 3 H 2 + G 1G 2 G 3
1 P1
W
1 =1
W C ( s)
R( s)
- -
P
C (s)
=P= 1 1
R( s)
=
G 1G 2 G 3
1 - G 1G 2 H 1 + G 2 G 3 H 2 + G 1G 2 G 3
WE10-1F
K
G7
G6
R(s)
G1
G2
G3
G4
G5
C(s)
-H1
-H2
W
W
P1 = G 1G 2 G 3 G 4 G 5
P2 = G 1G 6 G 4 G 5
P3 = G 1G 2 G 7
- -
W
L 1 = G 4 H 1
L 2 = G 2 G 7 H 2
L 3 = G 6 G 4 G 5 H 2
L 4 = G 2 G 3 G 4 G 5 H 2
W L 2 L1
= 1 (L1 + L 2 + L 3 + L 4 ) + L1 L 2
W P1 1
- -
Actuating signal
Input signal
(command)
System
components
Output signal
(controlled variable)
E15J1F
KE15-1F
Closed-loop Control
K J J
K
- -
Actuating signal
Controller
Input signal
(command)
k
M
forward-path
System
components
feedback-path
System
components
Output signal
(controlled variable)
E16-1)
block diagramE16-1F
controller K
E
plant
EFK
operational amplifier
K
KplantEF
K
- -
K J
J
K
K
K
K
K J
Block Diagram of a Closed-loop Control System
E17-1F
E
F C(s)
W
- -
Branch point
Summing point
R(s)
E(s)
+
G(s)
C(s)
Output
C(s)
E17J1F
E F
H(s)
C(s) KE18-1F
W B(s)
B(s) = H(s)C(s)
- -
(3 - 1)
R(s)
E(s)
C(s)
G(s)
B(s)
H(s)
E18J1F
WE18-1F
C(s)
E(s)
(4 - 1)
B(s)
C(s)
(5 - 1)
(6 - 1)
E(s)
J
WE6-1F
C(s) = G(s)E(s)
E(s) = R(s) B(s)
(7 - 1)
WE7-1FE2-1F
C(s) = G(s)E(s)
C(s) = G(s)[R(s) - H(s)C(s)
W
C(s) =
R(s)
G(s)
1 + G(s)H(s)
(8 - 1)
W
C ( s) =
G(s)
R(s)
1 + G(s)H(s)
(9 - 1)
K J
Closed-loop Control System Subjected to a disturbance
D(s)
R(s)E19-1F
WD(s)
- -
ZR(s) J
KR(s)
D(s)
R(s)=0 J
KD(s)
Disturbance
N(s)
R(s)
G1(s)
C(s)
G2(s)
H(s)
19 1
C D (s ) KR(s) C R (s)
E11-1FE10-1F K D(sF
W
C n (s)
G2 (s)
=
N ( s ) 1 + G1 ( s ) G 2 ( s ) H ( s )
(10 - 1)
C R (s)
G1 ( s )G 2 ( s )
=
R( s) 1 + G1 ( s )G 2 ( s ) H ( s)
(11 - 1)
- -
R(s)
W D(s)
G 2 (s)
[G1 ( s ) R ( s ) + N ( s )]
1 + G1 ( s )G 2 ( s ) H ( s )
(12 - 1)
K J
Reduction of Complicated Block
Diagrams
K E3-1F
E18-1F
KE3-1F
- -
:E11-1F
K
G3
R
G1
G2
G4
H1
H2
G1
G4
G1G4
G3
G2
G2+G3
- -
G1G 4
1 G1G 4 H 1
G1G4
H1
G1G 4
1 G1G 4 H 1
G2+G3
R
=
G1G 4 (G 2 + G3 )
1 G1G 4 H 1
H2
H2
- -
WE12-1F
CR
G2
G1
C
G3
:
G1G2
G3
()
- -
G1G 2
1 G1G 2 H
J
G3
()
G1G 2 G3
1 G1G 2 H
( )
G1G 2 G3
1 G1G 2 H + G1G 2 G3
()
WEFEF
G 1G 2 G 3
C(s) = 1 G 1G 2 H
GG G
R(s)
1+ 1 2 3
1 G 1G 2 H
WE1 G 1G 2 H F
C (s) =
R( s)
G1G2 G3
1 + G1G2 H + G1G2 G3
- -
WE13-1F
KK
WE14-1F
K
Qi(s)
1
3
1
R1
1
C1 s
4
1
C2 s
Qo(s)
1
R2
R2
Qi(s)
1
R1
1
C1 s
1
R2
1
C2 s
Qo(s)
R 2 C1 s
Qi(s)
1
C1 s
2
1
R1
-
-
1
C2 s
1
R2
Qo(s)
Qi(s)
1
R1C1 s + 1
Qo(s)
1
R2 C 2 s 1
R 2 C1 s
Qi(s)
1
R1C1 R2 C 2 s + ( R1C1 + R 2C 2 + R 2C1) s + 1
Qo(s)
WE15-1F
K
D(s)
i
G1
G2
(a)
:
i
G1G2
o`
(b)
- -
D(s)
o``
G2
G1
(c)
WE16-1F
K C
R
H2
(a)
R
G1
G2
H1
G3
- -
H2
G1
(b)
G1
G2
G3
H1
(c)
(e)
G1G 2
1 G1G 2 H 1
(d)
H2
G1
G3
G1G 2 G3
1 G1G 2 H 1 + G 2 G3 H 2
G1G 2 G3
1 G1G 2 H 1 + G 2 G3 H 2 + G1G 2 G3
- -
J
K J
(a)
R(s)
10
C(s)
K0
1
s +1
K1
( s + 2)
K2
s+3
(b)
R(s)
G2(s)
G1(s)
H1
H2
- -
C(s)
H2
(c)
a
R(s)
G1
C(s)
G3
G2
H1
J
K
H3
R(s)
G1
G2
G3
C(s
G4
H1
H2
G5
K C ( s) J
R( s)
H4
H5
R
G1
G2
G3
G4
H3
H2
H1
- -
K C(s) J
R3(s
R2(s
R1(s
G1
G3
G2
C(s
G4
H2
R4(s)
H2
G1
G2
G3
H1
a
G4
- -
Y(s)
Y(s)
,
N(s) R =0
R(s)
N =0
E(s)
R(s)
E(s)
N(s)
,
N =0
R =0
N(s)
G1(s)
E(s)
R(s)
G3(s)
G2(s)
Y(s)
H1(s)
Y5 ,
Y1
YG
4
,4
Y1
G2
G1
Y1
Y2
-H1
Y5
Y2
Y2
,
Y1
Y3
G3
Y4
Y5
Y5
-H2
(a)
-H4
G4
Y1
G2
G1
(b)
Y2
-H1
Y3
Y4
-H3
- -
G3
-H2
Y5
Y5
G4
Y1
G2
G1
(c)
Y2
Y4
-H3
Y3
-H1
G3
Y5
Y5
-H2
G4
(d)
Y1
Y2
G1
G2
-H1
Y3 -H
2
G3
Y4
Y5
Y5
-H3
-H3
G4
G1
(e)
Y1
Y2
G2
Y3 -H
1
-H3
- -
G5
G3
Y4 -H2
Y5
Y5