Automatic control systems and components

Automatic Control Systems and Components......Page 1
Contents......Page 3
Preface......Page 13
1.2 The DC Circuit......Page 16
1.2.2 The Volt......Page 17
1.2.3 The Voltage Source......Page 18
1.2.5 Determining Polarity......Page 19
1.2.6 Ohm\'s Law......Page 20
1.2.7 Resistivity......Page 21
1.3 The Resistor......Page 23
1.4 Series and Parallel Circuit Resistance and How They Are Calculated......Page 24
1.4.1 The Series Resistance Circuit......Page 25
1.4.2 The Parallel Resistance Circuit......Page 28
1.4.3 The Combined Series-Parallel Resistance Circuit......Page 30
1.5.1 Kirchhoff\'s Voltage Law......Page 32
1.5.2 Kirchhoff\'s Current Law......Page 33
1.6 The Voltage Divider Rule......Page 34
1.7 Power Supply Regulation......Page 35
1.8.1 Generating an AC Signal......Page 37
1.8.2 Waveform Definitions and Conventions......Page 38
1.8.3 The Phase Angle......Page 41
1.9.1 Capacitor Characteristics......Page 43
1.9.2 Capacitors in Parallel......Page 45
1.10 The Inductor......Page 46
1.10.1 Inductor Characteristics......Page 47
1.10.2 Inductors in Series......Page 48
1.11.1 Transformer Characteristics......Page 49
1.11.2 The Turns Ratio......Page 50
1.11.3 Power Transformer Ratings......Page 51
1.12.1 The R-C Circuit......Page 52
1.12.2 The R-L Circuit......Page 53
1.13 Reactance and Impedance......Page 54
1.13.2 The Capacitor\'s Reactance to an AC Waveform......Page 55
1.13.3 The Inductor\'s Reactance to an AC Waveform......Page 57
1.13.4 What Is Impedance?......Page 59
1.13.5 Understanding the J-Operator......Page 60
1.13.6 Instantaneous versus RMS Voltages and Currents......Page 61
1.14 Power......Page 63
1.15 Resonant Frequency......Page 64
1.17 Solid State Devices......Page 66
References\r......Page 68
2.1 Frequency Response......Page 69
2.2 Gain......Page 71
2.5 Phase......Page 72
2.6 Feedback......Page 76
2.7 The Block Diagram......Page 81
2.8 The Summing Point......Page 82
2.10 An Automatic Control System......Page 83
Summary......Page 86
Exercises......Page 87
3.2 A Little Background Concerning Laplace Transforms......Page 89
3.3 How Transforms Are Used......Page 90
3.4 Transform Tables......Page 93
3.5 Examples Using Transforms......Page 96
Exercises......Page 98
4.1 Defining Transducers......Page 100
4.2.1 The Potentiometer......Page 102
4.2.3 The Linear and Rotary Photocell Encoder......Page 105
4.3 Velocity Sensing......Page 106
4.3.1 The Rotary Magnetic Encoder......Page 108
4.4 Pressure Sensing......Page 109
4.5 Sound Sensing......Page 110
4.6 Flowrate Sensing......Page 114
4.7 Electromagnetic Sensing......Page 116
4.8 Temperature Sensing......Page 119
4.9.1 The Photoresistiue Sensor......Page 121
4.11 The Servomotor......Page 123
4.11.1 Calculating the Transfer Function for a Seruomotor......Page 126
4.12 The Gear Train......Page 135
4.13 Rate Generators......Page 137
4.14 Synchromechanisms......Page 138
4.14.1 The Transfer Function for Synchros......Page 140
4.14.2 The Synchro Control Transformer......Page 141
4.16 Auxiliary Servo Circuits......Page 142
4.16.1 The Modulator......Page 143
4.16.2 The Demodulator......Page 145
4.16.3 The Phase-Lead Network......Page 147
4.16.4 The Phase-Lag Network......Page 148
4.17 The Stepper Motor......Page 149
Summary......Page 152
Exercises......Page 153
5.1 Breaking Up Systems into Blocks......Page 156
5.2 Reviewing Old Terms and Learning New Ones......Page 159
5.3 Cascading Blocks......Page 162
5.4 Eliminating Loops......Page 163
5.5 Moving Summing Points......Page 164
5.7 Combined Block Reductions......Page 166
Exercises......Page 171
6.2 Bode Diagram Construction......Page 175
6.3 The Elements of Bode Diagrams......Page 186
6.5 Graphing Complex Functions......Page 190
6.6 Determining a System\'s Stability......Page 193
Exercises......Page 199
7.2 The Closed-loop Gain Plot......Page 201
7.3 Using the Nichols Chart......Page 210
7.4 An Example......Page 212
Exercises......Page 218
8.2 A System\'s Response to a Step Input......Page 220
8.3 Generating and Analyzing a Transient Response Curve......Page 225
8.3.1 The Natural Resonant Frequency and the Damping Factor......Page 227
8.3.2 The Damped Frequency......Page 229
8.3.3 Settling Time......Page 234
8.3.4 Number of Oscillations Before Settling......Page 235
8.3.5 Over-shoot......Page 236
8.3.6 Response Time......Page 237
8.4 An Example Problem......Page 242
8.6 The Root Locus Method......Page 245
8.6.1 Euler\'s Equation and the Complex S-Plane......Page 246
8.6.2 The Characteristic Equation......Page 248
8.6.3 The Routh-Hurwitz Stability Test......Page 252
8.6.4 The Root Locus......Page 254
8.7.1 The Proportional Controller......Page 267
8.7.2 The Integral Controller\r......Page 268
8.7.3 The Derivative Controller......Page 269
Summary......Page 270
Exercises......Page 271
9.2 Example 1: A Robotic Cart Steering System......Page 273
9.2.1 The System\'s Dead Band......Page 276
9.2.2 Selecting the Components and Generating the Open-loop Transfer Function......Page 277
9.2.3 Generating the Closed-loop Data......Page 282
9.3 Example 2: A Compass-directed Auto-pilot Control System for a Boat......Page 290
9.4 Example 3: A Remote Valve Positioner......Page 295
9.5 Example 4: An Oscillograph......Page 304
9.6 Example 5: A Conditionally Stable System......Page 308
9.7 Example 6: A Digital Controller for a Hydraulic Press......Page 310
9.8 Example 7: Bang-bang Servo Systems......Page 314
Summary......Page 319
Exercises......Page 320
10.2 Robotic Control System......Page 322
10.2.1 Problems with Using Digital Encoding......Page 327
10.3 Vision Systems......Page 329
10.4 Camera Leveler System......Page 332
10.5 Paper Processing System......Page 336
10.6 Liquid Flowrate Supervision System......Page 341
10.7 Bottle Filling Process......Page 346
10.8 Telescope Tracking System......Page 348
10.9 Die Casting Process Control System......Page 351
10.10 A Proportional Pneumatic Controller......Page 355
10.11 A Remote Control Antenna Rotator......Page 358
Review Questions......Page 360
11.1 The Purpose of System Communications......Page 362
11.2 Analog Data Communication......Page 363
11.4 Amplitude Modulated Control Systems......Page 365
11.5 Frequency Modulated Control Systems......Page 368
11.7 Digital Data Communication......Page 371
11.8.2 Pulse Width Modulation (PWM)......Page 374
11.8.3 Pulse Position Modulation (PPM)......Page 375
11.8.4 Pulse Code Modulation (PCM)......Page 376
11.9 Frequency Shift Keying......Page 378
11.10.1 Wire Conductors......Page 380
11.10.2 Radio Waves......Page 381
11.10.5 Pneumatic Transmission Lines......Page 382
Summary......Page 383
Review Questions......Page 384
12.2 What Is a Microprocessor......Page 385
12.3 The Computer and Its Software......Page 390
12.4 An Example of Automatic Controlling Using a Computer......Page 394
12.5 Using the Stepper Motor in an Automatic Control System......Page 402
12.6 Using a Programmable Controller for Automatic Control......Page 404
12.7 Methods of Computer Interfacing......Page 409
12.7.1 The 20 mA and 60 mA Current Loops......Page 410
12.7.2 The RS-232C Standard......Page 411
12.7.4 The IEEE-488 General Purpose Instrumentation Bus......Page 414
12.8 Plug-in Circuit Board Interfacing Methods......Page 417
Review Questions......Page 418
Answers to Odd-Numbered Problems......Page 420
Appendix A: Rectangular/Polar Polar/ Rectangular Conversions and How To Handle Math Routines Using These Forms......Page 429
Appendix B: A Computer Program for Plotting Transient Waveforms......Page 433
Appendix C: Computer Programs for Finding Cube Roots......Page 436
Appendix D: Euler\'s Equation......Page 443
Index......Page 445