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EET272

Electronic Control Systems

Developed by: Sid Antoch


Portland Community College, Engineering Department
12000 SW 49th Ave, Portland, OR 97219
E-mail: santoch@pcc.edu
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Introduction
This course is a technology level, algebra based, introduction to feedback control systems. The
response of integral and derivative control modes to steady state error voltages can be
presented algebraically. Actual control system response is measured and analyzed in the
accompanying laboratory.
It is not possible to perfectly synchronize the lecture presentation with the laboratory
experiments. The experiments depend on the students previous knowledge of semiconductors
and operational amplifiers. It is also necessary to occasionally cover some topics out of the
intended topic sequence, depending on which lab experiments are assigned.
Learning Objectives
Upon successful completion of this course students will be able to:
1.

Describe the basic operating principles of on-off, two point, three point, proportional,
proportional plus integral, and proportional plus integral, plus derivative mode control
systems.

2.

State the fundamental differences between open loop and closed loop control systems.

3.

Evaluate a control systems response in terms of response time, settling time, over
shoot, under shoot, and proportional error, as applicable.

4.

Calculate and/or determine the transfer functions of the basic components of typical
control systems, including sensors, actuators, amplifiers, integrators, differentiators,
error detectors, and summers.

5.

Use transfer functions to predict and/or determine the operation of control systems.
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6.

Explain the operating principles and applications of a variety of position, pressure,


temperature, light sensors.

7.

Explain the operating principles and application of a variety of actuators, including


resistance heaters, permanent magnet DC motors, brushless DC motors, stepper
motors, solenoids, and relays.

8.

Explain the operating principles of and applications of power control devices and
circuits, including power transistors, thyristors, class A amplifiers, switch mode drivers,
class A power supplies, and switch mode power supplies.

9.

Be able to build, troubleshoot, and evaluate the performance of control systems and
control system components.

Course Syllabus: EET272 Electronic Control Systems


Course Description:
3 credits: Lecture: 2 hours/week, Lab: 3 hours/week
Electronic control systems, open-loop and closed-loop. Proportional, integral, and derivative
control modes, PI and PID. Power control devices, relays, transistors, and thyristors. Sensors.
Topics include temperature control, DC motor control, and stepper motor control. Lab exercises
include temperature control and motor control circuits.
Prerequisites: Semiconductors, Operational Amplifiers
PCC course prerequisites: EET221 and EET222 (Semiconductors, Operational Amplifiers)
Instructional Materials:
Textbook Suggestions:
Modern Control Technology by Christopher T. Kilian, 3rd Ed.
Delmar (2006), ISBN 978-1-4018-5806-3.
Industrial Electronics by James A. Rehg and Glen J. Sartori,
Pearson/Prentice Hall, ISBN 0-13-206418-9.
Control System Experiments for Technology by Sid Antoch
ZAP Studio, ISBN 978-1-935422-13-6
(free downloads available from http://www.zapstudio.com)
Other Resources:
Introduction to Control System Technology by Robert N. Bateson, 7th Ed.
Prentice Hall (2001), ISBN 978-0130306883

Tentative Schedule of Topics:


Week 1
Introduction to Control Systems
Types of control systems and typical applications. Open-Loop, Closed-Loop, Transfer
Functions, Process Control, Motion Control, Numerical Control, and Robotics. Switches,
electromechanical relays, and solid-state relays.
Week 2
Power control semiconductors.
Bi-polar power transistors and MOSFET power transistors. Thermal considerations and
heat sinks. Pulse width modulation applied to control systems.

Week 3
Thyristors and solid state relays
SCRs and TRIACs in AC power control circuits. Thyristor trigger circuits. Applications to
solid state relays.
Week 4
Power supplies and voltage regulation
Power supply transformers and rectifiers. Linear class A voltage regulators. Review of
basic op-amp amplifiers and comparators.
Week 5
Converters and inverters
Switch-mode converters and inverters. Power supply applications. Earth ground,
ground loops, and isolation.
Week 6
Sensor applications in control systems
Position, Angular velocity, and temperature sensors. Other sensors covered briefly.
Open loop versus closed loop control systems. One, two, and three point feedback
control systems. Application of a temperature sensors in a two point temperature
control system.
Week 7
Feedback control systems
Operating principles of feedback control systems. Control modes: proportional,
proportional plus integral, and PID. Evaluation of control system performance.
Proportional mode oven temperature controller.
Week 8
Direct Current Motors
Permanent-magnet motors, DC motor control circuits, brushless DC motors, servo
systems. Speed-Torque characteristics. Electrical and mechanical energy, work, power,
and torque. Application of a photo-interrupter in a tachometer circuit for motor speed
control.

Week 9
Motor control circuits and systems
Class A and switch mode driver circuits and servo circuits. PI and PID speed control
circuits.
Week 10
Permanent-magnet stepper motors
Bi-polar and uni-polar. Micro-stepping. Effect of load, modes of operation, control
circuits.
Grading:
To be determined by instructor. Typically by midterm and final exams, homework, and
laboratory. Laboratory grade should account for about 30% of the final grade.

Instructional Resources
Introduction to Control System Technology, by Robert N. Bateson
Publisher: Prentice Hall; 7 edition (July 5, 2001), ISBN-13: 978-0130306883
Control System Experiments for Technology, by Sid Antoch
Publisher: ZAP Studio, ISBN 978-1-935422-13-6
(Contents Below)
Experiment 1: Power Control Methods
This exercise investigates and compares the switching properties of an electromagnetic relay
and a MOSFET transistor. Pulse width modulation (PWM) is also introduced.
Experiment 2: Power Control Methods / TRIAC
AC power is controlled using an optically triggered TRIAC. This is also an exercise in making
measurements in a circuit that has two different grounds.
Experiment 3: Switch Mode Voltage Boost Converter
This boost converter converts a 6 volt DC power supply to a 12 to 18 volt DC power supply using
switch mode technology.
Experiment 4: On - Off Temperature Controller

Temperature of a small oven is controlled. Experiment demonstrates two point control using a
Schmitt trigger.
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Experiment 5: Proportional Temperature Control


Temperature of a small oven is controlled. Experiment demonstrates proportion control mode.
Experiment 6: Tachometer / DC Motor
An LM555 IC is used as a frequency to voltage converter whose transfer function is 1 volt per
1000 rpm. The circuit is built and calibrated. The characteristics of the motor are measured.
Experiment 7: PID Motor Speed Control
An op-amp PID circuit is added to the circuit of experiment 6. The response of the control
system is evaluated for the proportional only mode, proportional plus integral mode, and PID
mode.
Experiment 8: DC Motor / Generator
The PI portion of the circuit of experiment 7 is used to control the output voltage of a DC
generator. The response to a change in load is evaluated.
Experiment 9: Stepper Motor
A bi-polar stepper motor is driven by a driver IC. The motor is connected to a ten turn
potentiometer. Simple position control experiments are performed.
Experiment 10: Linear Voltage Regulator
An application of an operational amplifier is demonstrated in a linear voltage regulator circuit.
This exercise is also an example of proportional feedback.
Experiment 11: PSpice ABM P and PI Feedback Control
PSpice Analog Behavior Model of a proportional and proportional plus integral feedback control
system.

Sample Exam Questions


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1.

Vs is a 10 kilohertz, 75% duty cycle square wave.


Its amplitude is 6 volts peak to peak with a 3 volt
positive offset. Qs saturation voltage is 0.6 volts.

V L

i
.
t

a) Calculate VL when Q is on.


b) Calculate VL when Q is off.
c) The converter is operating in steady state mode (average IL is constant).
Calculate the peak to peak value of IL.
2.

120V RMS, 60Hz, is applied to a 2 to 1


turns ratio step down transformer. The
forward voltage drop for the diodes is 0.7
volts and for the SCR is 1.5 volts.
a) Calculate the maximum peak value
and polarity of Va.
b)

Calculate the maximum peak value and


polarity of Vb when the SCR is off.

c)

Calculate the maximum peak value and polarity of Vb when the SCR is on.

d)

Calculate the power delivered to the 50 ohm resistor if the SCR fires 4.17
milliseconds after the zero crossings of the 60Hz sinusoid.

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3.

The position an object is controlled by a linear motion proportional control system. It has
a gain of Kp = 25 lb/inch. A frictional force acts on the controlled variable with a constant
force of 0.5 lb.
a) Find the length of the dead band.
b) Calculate the force applied by the system when the controlled variable is 8 inches
from the set point.

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4.

An RTD has a resistance of 100 ohms at 00 Celsius and a


temperature coefficient of 0.4 ohms per degree Celsius.
The RTD is connected to a 10mA constant current source
and non-inverting input of the op-amp circuit on the right.
a) Calculate Va, Vb, and Vout at temperature of 00C.
b) Calculate Va, Vb, and Vout at temperature of 2000C.
c) Calculate the circuits transfer function in volts per Celsius degree.

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5.

The value of the voltage, Vp, is 3.0 volts.


a)

Calculate Ve when Vs is 3.0 volts.

b)

Calculate Ve when Vs is 4 volts.

b)

Calculate Ve when Vs is 2 volts.

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6.

Op-amp, U2, in the circuit above is an amplifier that saturates at +6 volts and -6 volts.
a)

Calculate the proportional band of the circuit (the range of the voltage Vs over
which the op-amp, U2, does not saturate).

b)

Calculate the proportional band of the circuit if the 100k resistor is changed to
10k.

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7.

A 10 Hertz, 2 volt peak to peak square wave with no offset is


applied to the input of the circuit on the right.
a)

What type of waveform would you expect at the


output? (square, triangle, sine, etc ?)

b)

What is the peak to peak amplitude of Vo?

c)

As a filter, what is the circuits cutoff frequency, and is it low pass or high pass
filter?

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8.

A test waveform shown below is applied


to the input, Vi, of the circuit below. The
1000nF capacitor is discharged at t = 0.

a) Sketch the output waveforms for Vx,


Vy, and Vo on the graphs provided.
b) U3A also acts as a filter. Calculate
its cutoff frequency. Is it low pass or
high pass?

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9.

An electric motor lifts a 500 pound weight a vertical distance of 150


feet in 200 seconds. The weight is attached to a 2 foot diameter
pulley. Refer to the diagram above.
a)

How much work is done by the motor?

b)

Calculate the torque and power produced by the motor.

c)

Motor is 80% efficient and operates on 90 volts DC.


Calculate motors input current.

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10.

Refer to the circuit on the right. Vin is a constant pulse width,


variable frequency waveform. Vin has a 50% duty cycle
when the frequency is 400 Hertz.
a) Calculate pulse width of Vin and DC output voltage, Vpv.
b) Calculate the frequency at which the duty cycle is 90%.
c) Calculate the circuits transfer function in volts (Vpv) per Hertz.

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11.

The rpm - torque curves are given


on the right for a permanent magnet
DC motor.
a)

What is the motors no-load


speed when operated at 9
volts?

b)

What is the motors speed


with a load of 10 in-oz when
operated at 9 volts?

c)

Estimate the motor voltage


required to get a speed of
900 rpm with a 7.5 in-oz
load.

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PCC CCOG
EET272 CCOG

3/28/2010

Sid Antoch

COURSE NUMBER: EET272


COURSE TITLE: Electronic Control Systems
CREDIT HOURS: 3
LECTURE HOURS: 2
LECTURE/LAB HOURS: 0
LAB HOURS: 3
SPECIAL FEE:
COURSE DESCRIPTION and PREREQUISITES:
Electronic control systems, open-loop and closed-loop. Proportional, integral, derivative, PI, and PID
control modes. Power control devices, relays, transistors, and thyristors. Sensors. Topics include
temperature control, DC motor control, and stepper motor control. Lab exercises include temperature
control and motor control circuits. Prerequisite: Prerequisite: EET 222.
ADDENDUM TO COURSE DESCRIPTION:
Students will measure the operating characteristics and performance of power control devices and
feedback control systems in the associated laboratory.
INTENDED OUTCOMES:
Students will be able to:
1.
Operate and troubleshoot open loop and closed loop control systems.
2.
Use transfer functions to predict the correct operation of control systems.
3.
Measure and evaluate the performance of basic open loop and closed loop control systems.
4.
Operate and troubleshoot switch mode power supplies, converters, and motor drives.
COURSE ACTIVITES AND DESIGN:
Concepts and theories presented in class are demonstrated in the laboratory. Lab experiments are
synchronized with the lectures.
OUTCOME ASSESSMENT:
Assessment methods may include midterm and final exams, homework, lab evaluations, and projects.
COURSE CONTENT (Themes, Concepts, Issues) and SKILLS:
Signal Conditioning, transmission, and interface circuits. Switches, relays, and power semiconductors.
Position, angular velocity, and temperature sensors. Feedback Control Principles: on-off, proportional,
integral, and derivative control modes. Analog PID controllers. Control system performance criteria.
Permanent-magnet motors, DC motor control circuits, brushless DC motors, stepper motors.

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