Drives and Control for Industrial Automation

198 Pages·2010·15.25 MB·English

Advances in Industrial Control
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Tan Kok Kiong (cid:2) Andi Sudjana Putra
Drives and Control
for Industrial
Automation
TanKokKiong,Ph.D. AndiSudjanaPutra
DepartmentofElectricalandComputer EngineeringDean’sOffice
Engineering NationalUniversityofSingapore
NationalUniversityofSingapore 9EngineeringDrive1
4EngineeringDrive3 Singapore117576
117576Singapore Singapore
Singapore [email protected]
[email protected]
ISSN1430-9491
ISBN978-1-84882-424-9 e-ISBN978-1-84882-425-6
DOI10.1007/978-1-84882-425-6
SpringerLondonDordrechtHeidelbergNewYork
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AdvancesinIndustrial Control
SeriesEditors
ProfessorMichaelJ.Grimble,ProfessorofIndustrialSystemsandDirector
ProfessorMichaelA.Johnson,Professor(Emeritus)ofControlSystemsandDeputyDirector
IndustrialControlCentre
DepartmentofElectronicandElectricalEngineering
UniversityofStrathclyde
GrahamHillsBuilding
50GeorgeStreet
GlasgowGl1QE
UK
SeriesAdvisoryBoard
ProfessorE.F.Camacho
EscuelaSuperiordeIngenieros
UniversidaddeSevilla
CaminodelosDescubrimientoss/n
41092Sevilla
Spain
ProfessorS.Engell
LehrstuhlfürAnlagensteuerungstechnik
FachbereichChemietechnik
UniversitätDortmund
44221Dortmund
Germany
ProfessorG.Goodwin
DepartmentofElectricalandComputerEngineering
TheUniversityofNewcastle
CallaghanNSW2308
Australia
ProfessorT.J.Harris
DepartmentofChemicalEngineering
Queen’sUniversity
Kingston,Ontario
K7L3N6
Canada
ProfessorT.H.Lee
DepartmentofElectricalandComputerEngineering
NationalUniversityofSingapore
4EngineeringDrive3
Singapore117576
Singapore
Professor(Emeritus)O.P.Malik
DepartmentofElectricalandComputerEngineering
UniversityofCalgary
2500,UniversityDrive,NW
Calgary,Alberta
T2N1N4
Canada
ProfessorK.-F.Man
ElectronicEngineeringDepartment
CityUniversityofHongKong
TatCheeAvenue
Kowloon
HongKong
ProfessorG.Olsson
DepartmentofIndustrialElectricalEngineeringandAutomation
LundInstituteofTechnology
Box118
22100Lund
Sweden
ProfessorA.Ray
DepartmentofMechanicalEngineering
PennsylvaniaStateUniversity
0329ReberBuilding
UniversityPark
PA16802
USA
ProfessorD.E.Seborg
ChemicalEngineering
UniversityofCaliforniaSantaBarbara
3335EngineeringII
SantaBarbara
CA93106
USA
DoctorK.K.Tan
DepartmentofElectricalandComputerEngineering
NationalUniversityofSingapore
4EngineeringDrive3
Singapore117576
Singapore
ProfessorI.Yamamoto
DepartmentofMechanicalSystemsandEnvironmentalEngineering
FacultyofEnvironmentalEngineering
TheUniversityofKitakyushu
1-1,Hibikino,Wakamatsu-ku,Kitakyushu,Fukuoka,808-0135
Japan
Series Editors’ Foreword
The series Advances in Industrial Control aims to report and encourage technol-
ogy transfer in control engineering. The rapid development of control technology
has an impact on all areas of the control discipline. New theory, new controllers,
actuators, sensors, new industrial processes, computer methods, new applications,
new philosophies, ..., new challenges. Much of this development work resides in
industrialreports,feasibilitystudypapersandthereportsofadvancedcollaborative
projects.Theseriesoffersanopportunityforresearcherstopresentanextendedex-
position of such new work in all aspects of industrial control for wider and rapid
dissemination.
Monographsfromtheacademiccontrolcommunitycommonlyhaveastrongfo-
cusoncontrolsystemdesign,butthisisonlyoneaspectofindustrialcontrol,soitis
pleasingtobeabletointroduceamonographintotheAdvancesinIndustrialCon-
trolseriesthatisconcernedwithatopicfromtheequallyimportantareaofcontrol
technology. Kok Kiong Tan and Andi Sudjani Putra from the National University
ofSingaporehaveworkedforseveralyearswithindustrialengineersanduniversity
studentsonthetechnologyofdrivesandtheirapplications.Theirworkhascovered
teaching,research,andapplications,andnowtheirexperiencehasbeencapturedin
thiscomprehensivemonographDrivesandControlforIndustrialAutomation.One
focus of the book is to describe the hardware and working principles of hydraulic
and pneumatic servo-drives, electric drives, and piezoelectric drives, all of which
arepresentedandreviewedinonechaptereach(Chapters2–4,respectively).Agen-
eral control system structure for these drives is then given in Chapter 5, where,
being an industrially-oriented monograph, the control focus and discussion is on
proportional-integral-derivative(PID)control.Theuseofagenericcontrolsystem
structure across the differing drive technologies reinforces the authors’ approach
totheindustrialservo-driveasapackagedunitintegratingsensors,actuators(prime
mover),powermoderation,andcontrolsystem.Toincorporatesuchadriveunitinto
aprocessapplicationleadsnaturallytoaconsiderationofindustrialprocesscommu-
nicationtechnologyandcommunicationprotocols;thesearedescribedinChapter6,
wherethefocusisonfieldbustechnology.Thefinalchapterofthebookreportson
recentandfuturetrendsinmotioncontrol.Thekeydevelopmentsidentifiedarean
vii
viii SeriesEditors’Foreword
industrial demand for miniaturisation and the growth of applications in the nano-
andbio-technologyfields.
Readers seeking an entry and introduction to the prevalent devices and current
methodsforservo-drivetechnologywillfindthismonographquiteaccessible.Such
readersmightincludefinal-yearundergraduatestudents,engineeringpostgraduates,
industrialengineers,controlengineers,andtechnologists,typicallyfrom thefields
ofelectrical,mechanical,aviation,andprocessengineering.Thebreadthofthecon-
tentsofthemonographmeansthatitcanalsobeusedasareferencetextforservo-
drivetechnology.
WhilstthismonographfromK.K.TanandA.S.Putrahastheadvantageofcom-
prehensiveness,readersseekingfurtherspecialistknowledgemightfindthefollow-
ing Advances in Industrial Control series monographs useful. In the field of hy-
draulics, the monograph Hydraulic Servo-systems (ISBN 978-1-85233-692-9) by
M. Jelali and A. Kroll, for electric motors, the new monograph Induction Motor
ControlDesign(ISBN978-1-84996-283-4)byR.Marino,P.Tomei,andG.M.Ver-
relli. In the field of piezoelectric devices, the monograph Piezoelectric Transduc-
ersforVibrationControlandDamping(ISBN978-1-84628-331-4)byS.O.R.Mo-
heimaniandA.J.Fleming,andfinallyincommunications,themonographMeasure-
ment,ControlandCommunicationusingIEEE1588(ISBN978-1-84628-250-8)by
J.C.Eidson.ForPIDcontrol,theAdvancesinIndustrialControlseriesoffersanum-
berofseminaltextsincluding:AdvancesinPIDControl(ISBN978-1-85233-138-2)
by K.K. Tan, Q.-G. Wang, and C.C. Hang with T.J. Hägglund; Precision Motion
Control(ISBN978-1-84800-020-9)byK.K.Tan,T.H.Lee,andS.Huang;Practi-
calPIDControl(ISBN978-1-84628-585-1)byA.Visioli,andfinallyforsomething
alittledifferent,ModelPredictiveControlSystemDesignandImplementationwith
MATLAB®(ISBN978-1-84882-330-3)byL.Wang.
IndustrialControlCentre M.J.Grimble
Glasgow M.A.Johnson
Scotland,UK
Preface
Industrialautomationhasbecomeanimportantfeaturetoday,especiallyinthisage
ofrapidproductionanhighprecision.Automationallowsindustriestoachievethe
levelofspeedandqualityunattainablebylabourpower;withaffordablecost.While
industrialautomationismostlyprofitableformassmanufacturingandhomogeneous
products,thebulkofindustriesproducegoodsinlowquantity.Inthissituation,the
challenge shifts into developing automation systems in industry that still justifies
the installation cost. The knowledge and skill on this area has therefore become
increasinglynecessary.
This book recollects necessary materials related to servo control for industrial
automation. It starts from a macroscopic view of servo control, especially for in-
dustrial automation, treating drives and control systems as inseparable entities. It
then continues with detail discussions of major types of drives for precision con-
trol realization; namely servo hydraulic and pneumatic drives, electric drives, and
piezoelectricdrives.Eachchaptercontainsdetaildiscussionsoftherespectivema-
jorcomponents:actuators,sensors,andcontrollers—withoutgoingintothecontrol
theory. The techniques and theory of motion control itself is discussed in a sepa-
ratechapter,consideringthatthecontroltheoryforalloftheabovementioneddrives
isidentical.Forthesamereason,digitalcommunicationprotocolisalsodiscussed
in a separate chapter. This chapter is included as a recognition of the importance
andgrowingtrendofdigitalizationinmotionandprecisioncontrol.Themoregen-
eraltrendinmotioncontrolisdiscussedintheclosingchapter.Throughoutthedis-
cussion,theintegrityandnuanceofmechatronics—asynergisticintegrationofthe
abovementionedcomponents—aremaintained,reflectingtherealityoftheirsynergy
intoday’sindustrialautomation.
Despite its mechatronics nuance, the structure of this book allows traditional
approach of step-by-step teaching to still be conducted should it be desired. Each
chaptercontainsamaterialofitsownthatcanbestudiedseparatelywithoutcompro-
mising the understanding of the readers. This book is written for wide readership,
fromstudents,technicians,engineers,andresearchers.Thediscussionisthorough,
with concise basics yet sufficient details. Equations are provided as means to ex-
plain the certain concepts from the fundamentals such that it does not discourage
inexperienced readers but is useful for those with prior knowledge. Readers who
ix