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Introduction
A programmable logic controller (PLC) is essentially a digitalcomputer-like system that can properly sequence a complex task,
consisting of many discrete operations and involving several
devices, which need to be carried out in a sequential manner.
PLC performs basic computer functions such as logic, sequencing,
timing, and counting. It can carry out simpler computations and
control tasks such as proportional-integral-derivative (PID) control.
Such control operations are called continuous-state control,
where process variables are continuously monitored and made to
stay very close to desired values.
There is another important class of controls, known as discretestate control, where the control objective is for the process to follow
a required sequence of states (or steps).
PLC- overview
PLC- overview
PLC- overview
PLC Hardware
PLC Hardware
Data Acquisition
Data Acquisition
Data Acquisition
Data Acquisition
Communication Networks
Fieldbus
Fieldbus
Fieldbus
PC
Monitoring
& control
DAQ Card
Data
Acquisition
SAND
TANK
CEMENT
TANK
PEBBLES
TANK
Level sensor
Level sensor
Level sensor
(MIO)
Input/output
Model
WATER
TANK
Level sensor
Pump
Screw Conveyer
Screw Motor
MIXER
Pipe
Motor
Wire
Source:
History of Microcontroller
Microcontroller Manufacturers
Flash
256 x 12
Clock
Reset
Microchip
PIC10F200
Watch
Dog
I/O
(3)
Input (1)
RAM
16 Bytes
64KB SRAM
Freescale
32-Bit
MPC5554
MMU
32-Ch TPU
(2)
2MB Flash
32K Cache
NEXUS
DSP
64-Ch DMA
JTAG
EMI
Applications
Engine control
Robotics
Turbine control
CAN Bus
(3)
A/D
40-Ch
PLL
64-Ch
I/O
Control Algorithms
In real life systems, it is crucial to consider all the factors that might
influence the decision of selecting certain control algorithm in terms
of: space, processing power, environment, cost of final product,
Another critical decision that the designer must make is the type of
control algorithm to use. There are many controller algorithms that
can be used for mechatronic systems. Three categories will be
covered in this course: (1) On-off control, (2) Proportional-IntegralDerivative (PID) control, (3) Intelligent control
On-off Control
This is the simplest method of control. The control action has three
possible outputs: on, off, or no change. This method is usually used
for slow acting operations (such as refrigeration unit). The
advantage is its ease of design and low cost. However, it cannot
vary the controlled variable with precision.
Examples include: temperature control, washing machine.
Feedforward control
Adaptive Control