| Topic |
Sub-topic |
| Topic 1. Introduction to industrial automation and elements of automation |
1.1. Introduction to the automation of tasks and industrial processes.
1.1.1. Automation of industrial processes.
1.1.2 Programmable logic controller or PLC.
1.1.3 Elements of the programmable logic controllers. Inputs, outputs and memory.
1.1.4 Operational cycle of an automated system. The cycle time.
1.2 Properties of programmable logic controllers.
1.2.1. Logical and arithmetical operators.
1.2.2 Operators for assignment (with and without memory).
1.2.3 Combinations of binary variables.
1.2.3 Timers and counters.
1.3 Languages and programming techniques for programmable logic controllers.
1.3.1. Forms of representation of a program (FBD, AWL, ST, Grafcet, LADDER).
1.3.2 Linear and structured programming.
1.3.3 Introduction to contacts logic (LADDER).
1.3.4 Introduction to the modular structured programming in LADDER. |
| Topic 2. Tools for modeling sequential systems |
2.1 Introduction to the modelling of dynamic systems of discreet events.
2.1.1. Modelling by means of grafos of states and tables. The dimensional problem.
2.1.2 Petri net modeling. Distributed process description.
2.1.3 Main elements and properties of Petri Nets. Rules of evolution.
2.1.4 Logic and representation associated with Petri Nets. Selection and distribution.
2.2 Modeling distributed processes using Petri nets.
2.2.1. Process and cycle representation. The repetition of a simple process.
2.2.2 The use of timers. Time-controlled activations.
2.2.3 The use of counters. Event counting and process cycle counting.
2.2.3 The application of inhibitor arcs.
2.2.5. The use of simultaneous sequences. The synchronization of concurrent processes.
2.2.6. Process mutual exclusion. Managing shared resources.
2.2.7. Cooperative systems. Multi-task coordination.
2.3 Programming Petri Nets in a structured, modular manner using LADDER.
2.3.1. The modular structure of programming.
2.3.2. Developing the module for defining variables and initializing them.
2.3.3. Implementation of the transition evaluation module.
2.3.4. Integration of timers and counters into the transitions module.
2.3.5. Development of a module for activating places.
2.3.6. Development of the module for activating outputs. |
| Topic 3. Modeling, simulation, and representation of continuous dynamic systems |
3.1 Introduction to dynamic systems models.
3.1.1. Linear and nonlinear models.
3.1.2 Continuous and discrete models.
3.1.3 State variable modeling.
3.1.4 Concept of stability.
3.2 Dynamic linear systems.
3.2.1. Characterization and fundamental characteristics.
3.2.2 The state variables.
3.2.3 The transfer function. Laplace transforms and their properties.
3.2.4 Diagrams of block diagrams of transfer functions. The basic operations.
3.2.5 Transfer functions in feedback loops.
3.3 Physical system modeling.
3.3.1. Mechanical systems.
3.3.2. Electrical systems.
3.3.3. Hydraulic, chemical, and pneumatic systems.
3.3.4. Sociological and biological systems. |
| Topic 4. Analysis of continuous dynamic systems |
4.1 An introduction to the analysis of continuous dynamic systems.
4.1.1. Stationary and transitory regimes.
4.1.2. Different types of signals (impulse, step, ramp) and their Laplace transforms.
4.1.3. The poles and zeros of the transfer function. Laplace plane properties.
4.1.4. Frequency properties of linear continuous systems.
4.2 Characterization of the response in the time domain.
4.2.1. Time-related specifications.
4.2.2. First order systems. Stability, transfer function, and temporal response.
4.2.3. Second order systems. Stability, transfer function, and temporal response.
4.2.4. The description and analysis of error in permanent regimes.
The frequency domain analysis of the response.
4.3.1. Frequency-domain specifications. The Bode plot.
4.3.2. Properties of first order systems with respect to frequency.
4.3.3. Properties of second order systems with respect to frequency. |
| Topic 5. Control systems introduction. Design of PID controllers |
5.1 An introduction to control systems.
5.1.1. Control loops.
5.1.2. Sensors and actuators.
5.1.3. The digital controller.
5.1.4. Fundamental control actions: Proportionality (P), Integrality (I) and Derivation (D).
5.2 A PID controller for first order systems.
5.2.1. Specifications related to time and frequency.
5.2.2. The design by pole assignment method.
5.2.3. Analysis of stability.
5.2.4. Evaluation of the effects of the presence of a zero.
5.3 A PID controller for second order systems.
5.3.1. Specifications related to time and frequency.
5.3.2. The design by pole assignment method.
5.3.3. Analysis of stability.
5.3.4. Evaluation of the effects of the presence of a zero. |
| Practice 1. Introduction to programmable logic controllers in LADDER |
The objective of this practice is to familiarize the student with the programming of industrial automatons in the visual language LADDER. The student is introduced to the basic development of logic solutions and the use of basic features (initialization of variables, use of counters and timers, etc.). Finally, a methodology that allows transferring the programmed logic to a modular structure, necessary for the resolution of the following practices, is approached. |
| Practice 2. LADDER programming of Petri Nets I |
The objective of this practice is to develop solutions to automation problems. Sequential systems modeled by means of Petri Nets including their basic properties (counters, timers, process synchronization) will be implemented in a structured way in LADDER language. The student will have to program and simulate in a virtual PLC the solution to a problem studied during the previous class. In this way, during the development of the practice the training will focus on learning the methodology that allows transferring the theoretical solution to a programmable logic controller. |
| Practice 3. LADDER programming of Petri Nets II |
This practice is a continuation of practice 2 in which the implementation of sequential systems modeled by means of Petri Nets is addressed in a structured way in LADDER language. In this case solving more complex situations that include advanced properties of the Petri Nets studied (shared resources, inhibiting arcs, collaborative systems). As in the previous practice, during a previous class the theoretical solution with Petri Nets to a problem that includes all the desired advanced features will be studied. Thus, during the development of the practice, the training will focus on learning the methodology that allows to transfer the theoretical solution to a programmable automaton. |
| Practice 4. Introduction to dynamic systems analysis and simulation software |
The objective of this practice is to introduce the students to a software tool to develop the model, simulate and analyze the behavior in time and/or frequency of linear dynamic systems. Students are expected to learn the functions and the basic handling of the application by performing simple calculations related to the exercises analyzed in the theoretical part of the course (calculations of poles and zeros, decomposition into simple fractions, step response, etc.). |
| Practice 5. Analysis and simulation of control loops with first- and second-order linear dynamical systems |
The objective of this practical is to introduce students to the functions of the software tool for developing control loop simulations involving linear dynamic systems. Students will have to create, simulate and visualize the result of the response of a control loop with first and second order systems. |
| Practice 6. Design and simulation of PI control systems applied to first and second order linear dynamic systems |
The objective of this practice is that the students, using the fundamentals presented in the theoretical classes and/or seminars, implement, configure and analyze the results achieved when the control algorithms studied are applied on first and second order linear dynamic systems. In order to do this, they should use the control loops that have been developed in the previous practice. |
| Practice 7. Design and practical implementation of a PI control system applied to a real system |
The objective of this practice is that the students apply the knowledge acquired in the previous practices to a real control system. Thus, during the practice, students will have to design and test a control system and compare the results with the simulations obtained in the previous practice. |
