On PLC
Sofcon Systems India Pvt. Ltd.
C-87, Sector 88, NOIDA.
Uttar Pradesh.
E-mail: sales@sofcononline.com
INTRODUCTION TO
PROGRAMMABLE LOGIC
CONTROLLERS
INDUSTRIAL CONTROL
SYSTEM (ICSs)
Encompasses several types of control
systems used in industrial production, including
SCADA, DCS, and PLCs.
ICSs are typically used in industries such as
electrical, water, oil, gas and data.
INDUSTRIAL CONTROL
SYSTEM (ICSs)
Industrial Control enables:
Mass production of continuous processes
such as oil refining, paper manufacturing,
chemicals, power plants and many other
industries.
Automation, with which a small staff of
operating personnel can operate a complex
process from a central control room.
TYPES OF INDUSTRIAL
CONTROL SYSTEMS
Process control systems can be characterized as
one or more of the following forms:
Discrete
Continuous
Batch
DISCRETE PROCESS
Found in many
manufacturing, motion
and packaging
applications. Robotic
assembly, such as that
found in automotive
production.
Most discrete
manufacturing involves
the production of
discrete pieces of
product, such as metal
stamping.
CONTINUOUS PROCESS
Equipment operates in a single,
constant state and performs one
dedicated function.
The process rarely shuts down.
The goal is to produce a
consistent product, no matter
how long the process operates.
Examples of Continuous Processes:
Float Glass Line
Cement Kiln
Combustion Control
Water or Wastewater Treatment
Plant
BATCH PROCESS
Consists of a sequence of one or more steps
in a defined order.
Finite quantities of raw materials
processed by the equipment to
produce finite quantities of finished
products.
If more product is to be created, the
process must be repeated.
The goal is to produce a consistent product
through repeatability, batch to batch.
Examples of Batch Processes:
Production of beer, ice
cream, and other food products.
COMPARISON
MICROPROCESSOR MICROCONTROLLER
A multipurpose,
Microcontroller has
programmable device
a microprocessor,
that accepts digital
in addition with a
data as input,
fixed amount of
processes it
RAM, ROM and
according to
other peripherals
instructions stored in
all embedded on a
its memory, and
single chip.
provides results as
A microcontroller is
output.
a specialized form
It is only one
of microprocessor
component of an
that is designed to
electronic device and
be self-sufficient
requires additional
and cost-effective.
circuits, memory and
firmware or software
before it can
function.
PLC
A PLC is a special
microcontroller
designed for
industrial use, that
is for controlling
machinery or
processes.
A PLC is a system
that uses a
microprocessor or
microcontroller as
one of the
components
PROGRAMMABLE LOGIC
CONTROLLER
A PLC is a microprocessor based, mini-computer
specifically tailored specifically for certain control
tasks.
It uses programmable memory to store
instructions and specific functions that include
On/Off control, timing, counting, sequencing,
arithmetic and data handling to control machines
and processes.
PROGRAMMABLE LOGIC
CONTROLLER
Extensive use of PLCs because of:
Flexible
Faster Response time
HISTORY OF PLC
The first PLC systems evolved from conventional
computers in the late 1960s and early 1970s.
Programmable logic controllers were initially
adopted by the automotive industry where
software revision replaced the re-wiring of hardwired control panels when production models
changed.
The plants had to be shutdown for up to a
month at model changeover time but the early
PLCs when used along with other new automation
techniques shortened the changeover time.
HISTORY OF PLC
The earliest PLCs were developed to offer the
same functionality as the existing relay logic
systems.
The PLCs:
Could start in seconds
Could bear tough plant environment
Had battery backup
GENERAL FEATURES OF
A PLC
General characteristics of a programmable
controller include:
Withstands rugged industrial environment,
such as temperature and humidity
Easily installed and maintained
Reusable (i.e., can be moved and
reprogrammed)
Modular (i.e., parts can be replaced easily
for maintenance or repair)
Easy transition for people who worked with
relays
COMPONENTS OF
PROGRAMMABLE
LOGIC CONTROLLERS
COMPONENTS OF PLC
COMPONENTS OF PLC
CPU module compresses of the processor and the
memory.
PLC takes information from inputs and makes
decisions to energize or de-energize outputs.
APPLICATIONS OF PLC
ADVANTAGES OF PLCs
FLEXIBILITY
It is easier to create and
change a program in a
PLC than to wire and
rewire a circuit.
The program can be
modified by the end-user
on field.
Moreover, one model of a
PLC can be used to run
numerous machines with
distinct program for each
machine.
ADVANTAGES OF PLCs
LOWER COST
With day-by-day
improving
technology, it is
possible to get
more functions
(relays, timers,
counters,
sequencers ) into
smaller and less
expensive
packages.
ADVANTAGES OF PLCs
CAPABILITY OF
COMMUNICATION
PLCs can be
communicated to
perform functions such
as: supervisory
control, data
gathering, monitoring
devices and process
parameters, and
downloading and
uploading of programs.
ADVANTAGES OF PLCs
QUICK RESPONSE TIME
PLCs have real-time
operation which implies
that they react
immediately on the input
they obtain.
Real-time operation is a
relative concept that
means any task is
guaranteed to be handled
within a certain time.
COMPONENTS OF PLC
There are five basic components in a PLC system:
The PLC processor, or controller
I/O (Input /Output) modules
Chassis or backplane
Power supply
Programming software that runs in a PC
In addition to these 5, most PLCs also have:
A network interface
PROCESSOR, CONTROLLER,
OR CPU
Stores the control program and
data in its memory
Reads the status of connected
input devices
Executes the control program
Commands connected outputs
to change state based on
program execution
For example: Turn a light on,
start a fan, adjust a speed, or
temperature
Comes in various physical forms
PROCESSOR, CONTROLLER,
OR CPU
Comes in various physical forms:
I/O MODULES
I/O MODULES
I/O comes in various forms:
I/O CONFIGURATION:
TYPES
Local, Extended-local, and Remote I/O
are terms used for different types of I/O
configurations. I/O configurations are
differentiated by the following:
The number and type of modules present in
the chassis
The distance of each chassis and module
from the processor
The required speed of communications
LOCAL I/O
Local I/O: I/O
modules connected
to a processor
across a backplane,
thus limiting their
distance from the
processor.
Resident I/O
Chassis: Chassis
that houses the
processor.
LOCAL I/O
Local I/O configuration:
I/O modules and the processor reside in
the same chassis.
I/O modules are connected to the processor
across the backplane.
EXTENDED-LOCAL I/O
EXTENDED-LOCAL I/O
Extended-local I/O configuration:
I/O modules reside in a separate chassis
from the processor.
An extended-local I/O adapter module and
a multi-conductor cable are needed to
communicate.
The chassis is generally located closer to
the processor than with remote I/O
configuration.
The parallel link to the processor provides a
faster data transfer than a serial link.
REMOTE I/O
Remote I/O: I/O modules connected to a
processor across a serial link.
Serial Link: A communication link that allows
information to transfer sequentially.
REMOTE I/O
Remote I/O configuration:
I/O modules reside in separate chassis
from the processor.
A remote I/O adapter module is needed to
communicate.
The chassis generally can be located farther
from the processor than with extendedlocal configuration.
Serial link gives a slightly slower data
transfer than extended-local configuration.
The distance from the processor (cable
length) depends on the type of
programmable controller and the
communication rate.
CHASSIS/BACKPLANE
All PLCs need some method of communicating
between the controller, I/O and communications
modules.
A chassis provides the following:
Communication pathways between I/O modules
and processor (or other communications adapter)
via a circuit board called the backplane
Power supply connections
POWER SUPPLY
A power supply is needed to provide power to the
PLC and any other modules.
The Power Supply also furnishes the following:
Conditions voltage and current so that they are
compatible with processor and I/O components
Provides over and under voltage protection
Provides over current protection
INTRODUCTION TO FIELD
DEVICES & TYPE OF I/Os
I/O SYSTEMS
INPUT MODULES
Input modules interface directly to devices such
as switches and temperature sensors.
Input modules convert many different types of
electrical signals such as 120VAC, 24VDC, or 420mA, to signals which the controller can
understand.
INPUT MODULES
Input modules convert real world voltage and
currents to signals the PLC can understand.
Since there are different types of input devices,
there is a wide variety of input modules available,
including both digital and analog modules.
OUTPUT MODULES
Output modules interface directly to devices such
as motor starters and lights
Output modules take digital signals from the PLC
and convert them to electrical signals such as
24VDC and 4 mA that field devices can
understand.
OUTPUT MODULES
ACTUAL WIRING OF
DEVICES TO PLC
WIRING OF PLC
One of the many advantages to using a PLC/PAC is
the simplicity of the I/O wiring.
I/O devices are wired to I/O points on a fixed I/O
unit and to I/O modules in a modular unit.
Input devices such as switches, pushbuttons and
sensors are wired to input module points and
output devices such as indicator lights, solenoids
and motor starter coils are wired to output
module points.
DEFINITIONS
Sinking and Sourcing:
Sinking and sourcing are
terms to describe a
current flow relationship
between field input and
output devices in a control
system and their power
supply.
Sourcing I/O circuits
supply current to sinking
field devices.
Sinking I/O circuits
receive current from
sourcing field devices.
SINK SOURCE
CONNECTIONS
SINK SOURCE
CONNECTIONS
Source & Sinking is used exclusively with
Digital DC circuits. If the common pin is +
polarity, its called a sourcing circuit. If its
polarity, its called a sinking circuit.
BASIC TERMINOLOGY
PROCESSOR SCANNING
1. Input Scan: The state of the inputs is recorded in
the input image table.
The PLC records this data into its memory to be
used during the next step.
This makes the PLC operation faster, and avoids
cases where an input changes from the start to the
end of the program (e.g., an emergency stop).
2. Program Scan:
The input image data table is examined & the
program logic is executed.
The data is changed in accordance with the
program and output image table is prepared.
The information does not go to actual outputs.
PROCESSOR SCANNING
3. Output Scan:
The output table is copied from memory to the
outputs. These then drive the output devices by
providing 0 or 1 logic.
In this way, the information stored in the output
image table is used to switch output devices.
SYNCHRONOUS &
ASYNCHRONOUS SCAN
Synchronous and asynchronous scan is one
example of a variation among I/O and
communication interfaces.
A synchronous interface begins the I/Odevice update only when the processor
communicates with the interface.
An asynchronous interface, on the other
hand, scans the I/O devices on a
continuous basis - independent of
processor communication with the interface
board.
CONTINUOUS
SCAN
PERIODIC
SCAN
Triggered automatically
at a preset time interval
Interrupts lower priority
tasks and can be
interrupted by higher
priority tasks (15 Levels)
Will share time (on a
1ms basis) with other
same priority level tasks
Captures fault for task
overlap
Similar to PLC/SLC
Selectable Timed
Interrupt (STI)
CONTINUOUS
SCAN
PERIODIC
SCAN
INTERRUPTS
Interrupt function. It is an event that interrupts
the scan to process a special routine that you have
written.
In simpler terms, this means that as soon as the
input turns on, regardless of where the scan
currently is, the PLC immediately stops what its
doing and executes an interrupt routine.
A routine can be thought of as a mini program
outside of the main program.
An interrupt must be configured and enabled to
execute.
After its done executing the interrupt routine, it
goes back to the point it left off at and continues
on with the normal scan process.
INTERRUPT PRIORITY
When there are more than one interrupt occurred at the same
time, only the interrupt with highest priority can be executed.
All the other interrupt routines need to wait until it became the
highest priority among the pending interrupts.
Consequently, a response delay of hundreds of microseconds,
or even few milliseconds, may be caused. Hence, in a multiple
interrupt inputs structure, an interrupt priority is given to each
interrupt in accordance with its importance.
INTERRUPT PRIORITY
If another interrupt request is made when the
PLC is carrying out a higher priority interrupt
service routine than the new interrupt request, the
CPU will wait until the execution of the subroutine
is completed before accepting the new interrupt
request.
However, if the priority of the new interrupt
request is higher than the one being executed, the
CPU will stop the running of the current interrupt
service routine immediately to execute the
interrupt service routine with a higher priority.
After completing the execution, the CPU will return
to the previously interrupted service routine with a
lower priority to continue the incomplete work.
REDUNDANCY
CONCEPTS
REDUNDANCY
In engineering, redundancy is the duplication of
critical components or functions of a system with
the intention of increasing reliability of the
system, usually in the case of a backup or failsafe.
Redundancy: Many PLCs are capable of being
configured for redundant operation in which one
processor backs up another.
This arrangement often requires the addition of a
redundancy module, which provides status
confirmation and control assertion between the
processors. In addition, signal wiring to
redundant racks is an option.
REDUNDANCY OBJECTIVE
To improve the amount of up-time of a
machine or process by ensuring
consistent availability of that machine.
This also reduces costs associated
with equipment failure
To guard against system shutdown, a
redundant system must provide:
equipment with exceptional reliability
automatic fault isolation
minimal disturbance of the process
when switching from the primary
to the secondary system
IMPORTANT TERMS IN A
REDUNDANT SYSTEM
TYPES OF REDUNDANCY
LEVELS OF
REDUNDANCY
LEVELS OF
REDUNDANCY
Redundancy solutions are available at all levels
including; power supply, communication interfaces
and I/O circuits.
INDUSTRIAL NETWORKS
INDUSTRIAL NETWORKS
What is a Network?
A network provides a means of connecting
multiple devices together for the purposes
of exchanging information.
REASONS TO USE A
NETWORK
TYPES OF NETWORKS
Fieldbus
A generic term covering all industrial networks.
Note that there is also a specific network known
as Foundation Fieldbus that is often referred to as
just Fieldbus.
Information Network
Typical devices are computers.
In an industrial environment, typically PLCs are on
the network with computers.
Common uses are data collection, data
monitoring, file transfers, and email.
Control Network
Typical devices are PLCs, HMI terminals, and I/O
chassis.
Common use is for control of plant floor devices
such as I/O chassis, robots and other intelligent
devices.
TYPES OF NETWORKS
Device Network
Typical devices are field devices such as
buttons, lights, valves, and drives. Also
small blocks of I/O.
Common use is for direct connection to field
devices.
Sensor
Typical devices are very simple field devices
such as sensors, and lights.
Common use is for direct connection to field
devices
NETWORK FUNCTIONS
NETWORK FUNCTIONS
Rockwell Automation connects to a number of networks
to support control, configure, and collect activities
ControlNet
DeviceNet
Ethernet/IP
Remote I/O (RIO)
DH+
DH-485
Other competitive
Also serial communications using DF1 protocol
For Process applications to interface to instrumentation
Foundation Fieldbus
HART
DF1
A serial protocol for RS-232
Typically point-to-point, two nodes (full
duplex)
Designed for A-B PLCs to communicate
over modems.
10,000 ft.
5,000 ft.
2,500 ft.
DH485
An information network primarily designed for
SLC500, 5/02, 5/03
A token passing Peer to Peer bus network up to
19.2 Kbaud
Number of stations: 32 maximum / 15 or less
recommended
Often requires more hardware to support network
connections (i.e.. AIC Link Coupler) vs. DH+
Message passing network only, not deterministic.
Supports a respond only mode for low level devices
Remote programming support
Based on RS-485 electrical signal specification
CONTROLNET
DEVICENET
Lower Acquisition and Installation Cost
Reduction in plant wiring (eliminates hardwiring of I/O)
Lower installation, start-up, and maintenance times
Network Attributes
Data flow is governed by the Producer/Consumer model
Ability to link smart factory floor devices together and
bridge to higher level networks
Superior device level diagnostics
Device Plug and Play capabilities - add or remove nodes
on the fly
64 devices per network and data rates of 125, 250, and
500KB
Media Options
Passive bus media: nodes can enter and leave without
affecting the network
Sealed (IP67) and unsealed (IP65) media
Low cost flat media
ETHERNET/IP
Ethernet is a high speed network designed
originally for communications between
computers and peripheral devices.
Is the name of the Ethernet network that uses
the Common Industrial Protocol.
ETHERNET/IP
Connectivity to all computer manufacturers and software
Standard network management software: SNMP
Highly efficient data transfer
Increased baud rates (10Mb, 100Mb), use of switches
(instead of hubs), full duplex data transmission to
minimize effect of message collisions, and isolation
from the office Ethernet network
Use of commercial off the shelf products and technology
Common set of installation and support tools
Well established network standard, Can take
advantage of web browsing services in the products
Media Options
Active bus media: supports star network topologies
High noise immunity (fiber optic cabling)
Extend bus length with multiple switches (copper
and fiber)
FOUNDATION FIELDBUS H1
Digital network designed specifically to support
the demands of devices used in a process
application.
Device communication is scheduled at specific
intervals
Control, such as loop functions, can be
distributed among the devices. Devices have
embedded function blocks.
Devices are capable of transferring large
amounts of analog data, in addition to digital
data.
Foundation Fieldbus H1 is an open protocol
developed in the 1990s.
HART
Digital signals encoded on the analog signal
providing additional diagnostic data from the
transmitter
Can be used in traditional 4-20mA applications and
is backward compatible with existing installations.
HART was the first open protocol to connect analog
devices together
Millions of devices installed worldwide
80% of all Instruments sold today have HART
connectivity
Many customers dont use it, but device
manufacturers build it in to almost all devices
rather than making HART and non-HART devices.
PROTOCOL CONVERTER
It is a device used to convert standard
protocol of one device to the protocol suitable for
the other device or tools to achieve the
interoperability.
Protocols are software installed on the routers
which convert the data formats, data rate and
protocols of one network into the protocols of
the network in which data is navigating.
GENERAL ARCHITECTURE
OF A PROTOCOL
CONVERTER
It includes an:
internal master protocol - communicating to the
external slave devices and the data collected is
used to update the internal database of the
converter.
When the external master requests for data, the
internal slave collects the same from the
database and send it to the external master.
There will be different schemes for handling the
spontaneous reporting of events and commands.
PROTOCOL CONVERTER
WIRELESS
COMMUNICATION
WIRELESS TECHNOLOGY
Industrial Wireless Technologies
Technology Based on Spread Spectrum
Introduction to Spread Spectrum
Spread Spectrum vs. Narrow Band
Technology
Frequency Hopping Spread Spectrum
Direct Sequence/OFDM
RF Bands - 900 MHz, 2.4 GHz, 5 GHz
Future Technology
BASIC INDUSTRIAL
WIRELESS TECHNOLOGY
RADIO TYPES
Receiver
Transmitter
Transmits signal only
Separate transmitter /
receiver systems
Communication is single
direction
Common for telemetry of a
analog or digital signal
Low cost transmitters on
remotes, fewer receivers
Transceiver (RadioLinx)
Single radio sends and
receives signals
Receiver can ask or request to
resend message
BASIC INDUSTRIAL
WIRELESS
TECHNOLOGIES
WIRELESS TECHNOLOGIES
RECOMMENDED
APPLICATIONS*
TECHNOLOGY BASED ON
SPREAD SPECTRUM
INTRODUCTION TO SPREAD
SPECTRUM
Spread spectrum
a class of modulation techniques that spreads a signals
power over a wider band of frequencies than is necessary
for the information being transmitted
Spreads the RF energy across the RF spectrum
Benefits of spreading the signal:
Signal is more immune to unwanted noise / interference
Simultaneous transmission of multiple signals within the
same frequency band
Provides inherent data encryption / security
Supports fast data rates
NARROWBAND VS.
SPREAD SPECTRUM
Narrow band (VHF)
Spread Spectrum
License required
License free
Long range
Line-of-sight not
required
Slow data rates
situations
Line-of-sight critical
High speed capable
INDUSTRIAL WIRELESS
TECHNOLOGIES
SHORT RANGE (802.15.4
ZIGBEE)
Designed for Controls and
Sensors
Low Cost, Low Power
Wireless Mesh Networking
Standard
250 kbps in the ISM 2.4 GHz
band
20 kbps in the 868 MHz band
(Europe)
40 kbps in the 915 MHz band
(North America & Australia)
INDUSTRIAL WIRELESS
TECHNOLOGIES SHORT RANGE
(802.15.1 BLUETOOTH)
802.15 Wireless Personal Area
Network (WPAN)
2.4 GHz FHSS fast hopping
(1600 hops/s)
Class 3 1 mW ~ 10m
Class 2 - 2.5 mW ~ 20m
Class 1 - 100 mW ~ 100m
720 kbits/s (less w/ Forward
Error Correction FEC)
FUTURE INDUSTRIAL
WIRELESS TECHNOLOGIES
WIMAX (802.16 STANDARD
75MBPS TO 10 KM)
FUTURE INDUSTRIAL
WIRELESS TECHNOLOGIES
CELLULAR (GSM & CDMA)
1G, 2G and 3G Cellular refers to generation of wireless
Monthly Charges depending on the frequency of data
Coverage Depends on the Carrier (Verizon, AT&T, etc.)
INTRODUCTION TO PLC
PROGRAMMING
PLC PROGRAMMING
Every PLC has associated programming software that
allows the user to enter a program into the PLC.
Software used today is Windows based, and can
be run on any PC.
Different products may require different
software: PLC5, SLC, and ControlLogix each
require their own programming software.
PLC PROGRAMMING
Before a PLC can perform any control task, it must
be programmed to do so.
Ladder Logic is the most popular language used
to program a PLC
PLC PROGRAMMING
LADDER LOGIC
OTHER PROGRAMMING
LANGUAGES
While ladder logic is the oldest and most popular
language used in PLCs today, many other languages
are widely in use. Examples are:
Function Block
Structured Text
PRODUCED / CONSUMED
TAGS
BASIC INSTRUCTIONS
One organizes ladder logic as rungs on a ladder
and put instructions on each rung. There are two
basic types of instructions:
Input instruction: An instruction that checks,
compares, or examines specific conditions in the
machine or process.
Output instruction: An instruction that takes
some action, such as turn on a device, turn off a
device, copy data, or calculate a value.
BASIC INSTRUCTIONS
REALIZATION OF BASIC
GATES USING BASIC PLC
INSTRUCTIONS
TIMERS
TON Timer On Delay
Count time base intervals when
the instruction is true.
TOF Timer Off Delay
Counts time base intervals
when the instruction is false.
RTO Retentive Timer
Counts time base intervals
when the instruction is true
and retains the accumulated
value when the instruction
goes false or when power cycle
occurs.
COUNTERS
CTU Count UP
Increments the accumulated value
at each false to true transition and
retains the accumulated value
when the instruction goes false or
when power cycle occurs.
CTD Count Down
Decrements the accumulate value
at each false to true transition and
retains the accumulated value
when the instruction goes false or
when power cycle occurs.
RES Reset
Resets the accumulated value and
status bit of a timer or counter.
FILE INSTRUCTIONS
1. FFL - First In, First Out (FIFO) Load
On a false-to-true rung
transition, the First in First out Load
(FFL) instruction loads words
or long words into a
user-created file called
a FIFO stack.
2. FFU First In, First Out (FIFO)
Unload
On a false-to-true rung transition,
the FFU instruction unloads words
Or long words from a user created
file called a FIFO stack.
FILE INSTRUCTIONS
3. LFL - Last In, First Out (LIFO) Load
On a false-to-true rung
transition, the LFL instruction
loads words or long words
into a user-created file called
a LIFO stack.
4. LFU Last In, First Out (LIFO) Unload
LIFO unload (LFU), is
paired with a given LFL
instruction to remove
elements from the LIFO
stack.
COMPARISON
INSTRUCTIONS
1. EQU Instruction
When source A and source B are
equal, the instruction is logically
true. If these values are not
equal, the instruction is logically
false.
2. NEQ Instruction
When source A and source B are not
equal, the instruction is logically
true.
Here, Source A must be an address.
Source B can be either a
program constant or an address.
COMPARISON
INSTRUCTIONS
3. LES Instruction
When source A is less than the
value at source B, the
instruction is logically true.
4. LEQ Instruction
When the value at source A is less
than or equal to the value at
source B, the instruction is
logically true.
Here, Source A must be an
address. Source B can be
either a program constant or an address.
COMPARISON
INSTRUCTIONS
5. GRT Instruction
If the value at source A is
greater than the value at
source B, the instruction is
logically true.
6. GEQ Instruction
If the value at source A is
greater than or equal to
the value at source B, the
instruction is logically true.
COMPARISON
INSTRUCTIONS
7. LIM Instruction
It tests for values within or outside a
specified range, depending on how the
limits are set.
The Low Limit, Test, and High Limit value
are restricted to the following
combinations:
If the parameter is a program constant,
both the Low Limit and High Limit
parameters must be word addresses.
If the parameter is a word address, the
Low Limit and High Limit parameters can
be either a program constant or a word
address.
MATHEMATICAL
INSTRUCTIONS
Math Instructions
ADD:
Overview
Add two values
Source - address of the
SUB:
value on which the operation Subtract one value from
is to be
another
performed.
MUL:
Destination is the address Multiply two values
of the result of the operation.
DIV:
Location of math
Divide one value by another
instructions in ladder logic
determine to operation
performed (i.e. if the
operation A(B+C) is desired,
the ADD operation must
appear before the MUL).
CONTROLLER
A controller compares the actual value of output
with the reference input, determines the
deviation, and produces a control signal that will
reduce the deviation to zero or to a small value.
The manner in which the controller produces the
control signal is called the control action.
PID CONTROLLER
PID CONTROLLER
CHARACTERISTICS
PID CONTROLLER
PID CONTROLLER
Proportional Band is referred to as Gain
Integral Band is referred to as Reset
Derivative Band is referred to as Rate
PID CONTROLLER
FUZZY CONTROL
Fuzzy logic is well suited to implementing
control rules that can only be expressed
verbally, or systems that cannot be modeled
with linear differential equations. Rules and
membership sets are used to make a decision.
Fuzzy Logic Control (FLC) or sometimes known
as Fuzzy Linguistic Control is a knowledge based
control strategy that can be used
- when either a sufficient accurate and yet not
unreasonably complex model of the plant is
unavailable, or
- when a (single) precise measure of
performance is not meaningful or practical.
EXAMPLE OF FUZZY
CONTROL
An example of a fuzzy logic controller for
controlling a servomotor is shown in Figure. This
controller rules examines the system error, and
the rate of error change to select a motor
voltage. In this example the set memberships are
defined with straight lines, but this will have a
minimal effect on the controller performance.
TYPES OF FUZZY
CONTROLLERS:
- DIRECT CONTROLLER
The Outputs of the Fuzzy Logic System Are the
Command Variables of the Plant:
TYPES OF FUZZY
CONTROLLERS:
- SUPERVISORY CONTROLLER
Fuzzy Logic Controller Outputs Set Values for
Underlying PID Controllers:
TYPES OF FUZZY
CONTROLLERS:
- PID ADAPTATION
BENEFITS