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Microcontroller Based Applied Digital Control

Book 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.

Table of Contents

  1. Cover Page
  2. Title Page
  3. Copyright
  4. Contents
  5. Preface
  6. 1: Introduction
    1. 1.1 THE IDEA OF SYSTEM CONTROL
    2. 1.2 COMPUTER IN THE LOOP
    3. 1.3 CENTRALIZED AND DISTRIBUTED CONTROL SYSTEMS
    4. 1.4 SCADA SYSTEMS
    5. 1.5 HARDWARE REQUIREMENTS FOR COMPUTER CONTROL
    6. 1.6 SOFTWARE REQUIREMENTS FOR COMPUTER CONTROL
    7. 1.7 SENSORS USED IN COMPUTER CONTROL
    8. 1.8 EXERCISES
  7. 2: System Modelling
    1. 2.1 MECHANICAL SYSTEMS
    2. 2.2 ELECTRICAL SYSTEMS
    3. 2.3 ELECTROMECHANICAL SYSTEMS
    4. 2.4 FLUID SYSTEMS
    5. 2.5 THERMAL SYSTEMS
    6. 2.6 EXERCISES
  8. 3: The PIC Microcontroller
    1. 3.1 THE PIC MICROCONTROLLER FAMILY
    2. 3.2 MINIMUM PIC CONFIGURATION
    3. 3.3 SOME POPULAR PIC MICROCONTROLLERS
    4. 3.4 EXERCISES
  9. 4: Programming PIC Microcontrollers in C
    1. 4.1 PICC LITE VARIABLE TYPES
    2. 4.2 VARIABLES
    3. 4.3 COMMENTS IN PROGRAMS
    4. 4.4 STORING VARIABLES IN THE PROGRAM MEMORY
    5. 4.5 STATIC VARIABLES
    6. 4.6 VOLATILE VARIABLES
    7. 4.7 PERSISTENT VARIABLES
    8. 4.8 ABSOLUTE ADDRESS VARIABLES
    9. 4.9 BANK1 QUALIFIER
    10. 4.10 ARRAYS
    11. 4.11 ASCII CONSTANTS
    12. 4.12 ARITHMETIC AND LOGIC OPERATORS
    13. 4.13 NUMBER BASES
    14. 4.14 STRUCTURES
    15. 4.15 PROGRAM FLOW CONTROL
    16. 4.16 FUNCTIONS IN C
    17. 4.17 POINTERS IN C
    18. 4.18 PRE-PROCESSOR COMMANDS
    19. 4.19 ACCESSING THE EEPROM MEMORY
    20. 4.20 INTERUPTS IN C PROGRAMS
    21. 4.21 DELAYS IN C PROGRAMS
    22. 4.22 STRUCTURE OF A C PROGRAM
    23. 4.23 PIC MICROCONTROLLER INPUT–OUTPUT INTERFACE
    24. 4.24 EXERCISES
  10. 5: Microcontroller Project Development
    1. 5.1 HARDWARE AND SOFTWARE REQUIREMENTS
    2. 5.2 PROGRAM DEVELOPMENT TOOLS
    3. 5.3 EXERCISE
  11. 6: Sampled Data Systems and the z -Transform
    1. 6.1 THE SAMPLING PROCESS
    2. 6.2 THE z-TRANSFORM
    3. 6.3 PULSE TRANSFER FUNCTION AND MANIPULATION OF BLOCK DIAGRAMS
    4. 6.4 EXERCISES
  12. 7: System Time Response Characteristics
    1. 7.1 TIME RESPONSE COMPARISON
    2. 7.2 TIME DOMAIN SPECIFICATIONS
    3. 7.3 MAPPING THE s-PLANE INTO THE z-PLANE
    4. 7.4 DAMPING RATIO AND UNDAMPED NATURAL FREQUENCY IN THE z-PLANE
    5. 7.5 DAMPING RATIO AND UNDAMPED NATURAL FREQUENCY USING FORMULAE
    6. 7.6 EXERCISES
  13. 8: System Stability
    1. 8.1 FACTORIZING THE CHARACTERISTIC EQUATION
    2. 8.2 JURY'S STABILITY TEST
    3. 8.3 ROUTH–HURWITZ CRITERION
    4. 8.4 ROOT LOCUS
    5. 8.5 NYQUIST CRITERION
    6. 8.6 BODE DIAGRAMS
    7. 8.7 EXERCISES
  14. 9: Discrete Controller Design
    1. 9.1 DIGITAL CONTROLLERS
    2. 9.2 PID CONTROLLER
    3. 9.3 EXERCISES
  15. 10: Controller Realization
    1. 10.1 DIRECT STRUCTURE
    2. 10.2 CASCADE REALIZATION
    3. 10.3 PARALLEL REALIZATION
    4. 10.4 PID CONTROLLER IMPLEMENTATIONS
    5. 10.5 MICROCONTROLLER IMPLEMENTATIONS
    6. 10.6 CHOICE OF SAMPLING INTERVAL
    7. 10.7 EXERCISES
  16. 11: Liquid Level Digital Control System: A Case Study
    1. 11.1 THE SYSTEM SCHEMATIC
    2. 11.2 SYSTEM MODEL
    3. 11.3 IDENTIFICATION OF THE SYSTEM
    4. 11.4 DESIGNING A CONTROLLER
    5. 11.5 CONCLUSIONS
  17. Appendix A: Table of z -Transforms
  18. Appendix B: MATLAB Tutorial
    1. B.1 MATLAB OPERATIONS
    2. B.2 CONTROL SYSTEM TOOLBOX
  19. Index