This presenting master’s thesis deals with a problem of digitaly controled room temperature using the software PLC. The result of this work was creating of an algorithm to control temperature on the requested leve ofl setpoint, minimizing operating costs of the building. The PLC softwares from different manufacturers were analyzed and compared with conventional PLC. The testing facility was disigned and used to control the temperature in the room and data visualization. Room temperature was regulated by PS controller or two point regulator.

The aim of this diploma thesis is detail description of theory, design process and final realization of single-purpose machine for pressing canister funnels. Theoretical section of this work covers manufacturing standards of the electrical cabinets, options for the single-purpose machine control with focus on the programmable logic controller e.g. PLC, PLC control program concept with definition of the main alarm states and description of two types of electrical cabinet. Practical part contains description of the electrical cabinet, its block diagram, photo documentation of the wiring (chapter 4.), chosen PLC type, its advantages and detail program description using Ladder diagram notation, communication with operator realized with touch LCD panel, programming environment for this LCD panel and program realization process. Finalized machine description and its photo documentation in manufacturing process is covered in the end. This diploma thesis is based and extends previously successfully defended semester project.

The diploma thesis is a part of the project Intelligent double arm juggling machine. The project is divided into two diploma thesis. This thesis deals with the motion control of juggling arms. Information about hardware and software resources used in this project is in the first part of thesis. There is explanation of the control loop, explanation of used communication protocols and implementation of program proceeding in the second part of thesis.

The aim of the thesis is to design a special purpose tool for sag measurement. Three possible solutions are proposed, for each the production cycle time is calculated and its approximate costs are estimated. The best solution in terms of a trade-off between both key quantities is suggested. Next part of the work deals with the selection of suitable drives for the manipulator as well as of the other components for the whole electrical device. Finally, a possible automated control of the complete machinery, including the electrical wiring diagram, is presented.

Hybrid solar-Brayton systems utilize both solar thermal energy and supplementary renewable fuels to provide controllable and dispatchable power output, which renders them a promising way to meet the growing energy demand and reduce the carbon footprints. However, existing testing facilities for key components in such hybrid systems often fail to accomplish the testing requirements, hence impeding the improvement of the renewable energy share and the overall efficiency. A novel testing facility is urgently needed in order to thoroughly stimulate and analyze the component characteristics. This research work focuses on the development of a gas turbine simulator as an innovative testing facility for hot, pressurized components in hybrid solar-Brayton systems. The dual-flow choked nozzle based flow control has been proposed, explained, and analyzed in comparison to the single-flow layout. The basic idea of gas turbine simulator has been experimentally implemented and validated on a prototype, verifying its functionality. By incorporating a PLC-based control system, an automated gas turbine simulator has been designed and modified based on the prototype. Its performance with regard to stabilizing boundaries and tracking trajectories has been evaluated by experiments. Based on the experimental results, the gas turbine simulator prototype has proven its ability to establish controllable boundary conditions and migrate operating points for the impinging receiver. Through manual adjustments, excellent quasi-steady state performance has been obtained, with the precision for pressure control reaching ±0.005 bar at ambient temperature and ±0.015 bar at high temperature of 797.1-931.5 °C. The manual operation time has been identified at 23.1 s for establishing the receiver boundaries, and at 70 s for changing operating points. With the help of the proposed control strategy, the automated gas turbine simulator has eliminated the need for manual adjustments, and demonstrated the ability to maintain the safe and convergent operation for the receiver. The performance in boundary condition stabilization has been satisfactory, with enhanced steady-state accuracy comparing to the prototype by virtue of the PID controller. The transient-state fluctuations in pressure control have been effectively restrained within an acceptable region with deviations of ±0.018 bar to ±0.076 bar from the desired 2.400 bar operating pressure. The capability of tracking linear and nonlinear trajectories has also been testified, with the precision level between ±0.023 bar and ±0.037 bar. Finally, in view of the good stability, high precision, and rapid response manifested in the experimental studies, the gas turbine simulator has validated its ability to imitate the steady and transient characteristics of gas turbines on the boundaries of the test section. It also grants the possibilities to conduct control variable studies and wide-range transition studies. The gas turbine simulator is a suitable testing facility for the key components in hybrid solar-Brayton systems. / Hybrid solenergi-Brayton-system använder både solvärmeenergi och kompletterande förnybara bränslen för att ge kontrollerbar och sändbar effekt, vilket gör dem till ett lovande sätt att möta den växande energiefterfrågan och minska koldioxidavtrycken. Men befintliga testanläggningar för nyckelkomponenter i sådana hybridsystem misslyckas ofta med att uppfylla testkraven, vilket hindrar förbättringen av andelen förnybar energi och den totala effektiviteten. En ny testanläggning behövs omgående för att grundligt stimulera och analysera komponentens egenskaper. Detta forskningsarbete fokuserar på utvecklingen av en gasturbinsimulator som en innovativ testanläggning för varma, trycksatta komponenter i hybridsolar-Brayton-system. Den dubbelströms strypta munstycksbaserade flödeskontrollen har föreslagits, förklarats och analyserats i jämförelse med enkelflödeslayouten. Den grundläggande idén med gasturbinsimulator har experimentellt implementerats och validerats på en prototyp, vilket verifierar dess funktionalitet. Genom att införliva ett PLC-baserat styrsystem har en automatiserad gasturbinsimulator designats och modifierats utifrån prototypen. Dess prestanda med avseende på stabilisering av gränser och spårning av banor har utvärderats genom experiment. Baserat på de experimentella resultaten har prototypen av gasturbinsimulatorn bevisat sin förmåga att upprätta kontrollerbara gränsförhållanden och migrera arbetspunkter för den träffande mottagaren. Genom manuella justeringar har man erhållit utmärkt prestanda i nästan konstant tillstånd, med precisionen för tryckkontroll som når ±0,005 bar vid omgivningstemperatur och ±0,015 bar vid hög temperatur på 797,1-931,5 °C. Den manuella drifttiden har identifierats till 23,1 s för att fastställa mottagargränserna och till 70 s för att byta arbetspunkter. Med hjälp av den föreslagna styrstrategin har den automatiserade gasturbinsimulatorn eliminerat behovet av manuella justeringar och visat förmågan att upprätthålla en säker och konvergent drift för mottagaren. Prestandan vid gränstillståndsstabilisering har varit tillfredsställande, med förbättrad steady-state noggrannhet jämfört med prototypen tack vare PID-regulatorn. De transienta tillståndsfluktuationerna i tryckregleringen har effektivt begränsats inom ett acceptabelt område med avvikelser på ±0,018 bar till ±0,076 bar från det önskade 2,400 bar arbetstrycket. Förmågan att spåra linjära och olinjära banor har också vittnats, med precisionsnivån mellan ±0,023 bar och ±0,037 bar. Slutligen, med tanke på den goda stabiliteten, höga precisionen och snabba responsen som manifesteras i de experimentella studierna, har gasturbinsimulatorn validerat sin förmåga att imitera de stabila och transienta egenskaperna hos gasturbiner på gränserna för testsektionen. Det ger också möjlighet att genomföra kontrollvariabelstudier och omfattande övergångsstudier. Gasturbinsimulatorn är en lämplig testanläggning för nyckelkomponenterna i hybridsolar-Brayton-system.

Cyber-physical systems are networked through IT infrastructure and susceptible to malware. Threats targeting process control are much more safety-critical than traditional computing systems since they jeopardize the integrity of physical infrastructure. Existing defence mechanisms address security at the network nodes but do not protect the physical infrastructure if network integrity is compromised. An interface guardian architecture is implemented on cyber-physical control leaf nodes to maintain process integrity by enforcing high-level safety and stability policies. Preemptive detection schemes are implemented to monitor process behavior and anticipate malicious activity before process safety and stability are compromised. Autonomic properties are employed to automatically protect process integrity by initiating switch-over to a verified backup controller. Subsystems adhere to strict trust requirements safeguarding them from adversarial intrusion. The preemptive detection schemes, switch-over logic, backup controller, and process communication are all trusted components that are separated from the untrusted production controller. The proposed architecture is applied to a rotary inverted pendulum experiment and implemented on a Xilinx Zynq-7000 configurable SoC. The leaf node implementation is integrated into a cyber-physical control topology. Simulated attack scenarios show strengthened resilience to both network integrity and reconfiguration attacks. Threats attempting to disrupt process behavior are successfully thwarted by having a backup controller maintain process stability. The system ensures both safety and liveness properties even under adversarial conditions. / Master of Science

Το έτος 1987 στο Τμήμα Ηλεκτρολόγων Μηχανικών και Τεχνολογίας Υπολογιστών του Πανεπιστήμιου Πατρών και συγκεκριμένα στο Εργαστήριο Ηλεκτρομηχανικής Μετατροπής Ενέργειας του Τμήματος Ηλεκτρολόγων Μηχανικών, στα πλαίσια εκπαιδευτικών και ερευνητικών σκοπών, εγκαταστάθηκε ένα πλήρες αυτοματοποιημένο σύστημα παράγωγης και παροχής ηλεκτρικών τάσεων. Σκοπός του συστήματος ήταν η παροχή 10 διαφορετικών τύπων τάσεων σε 15 συγκεκριμένες θέσεις εργασίας στο χώρου του Εργαστηρίου. Το σύστημα ήταν πλήρως αυτοματοποιημένο, καθώς χρησιμοποιήθηκε προγραμματιζόμενος λογικός ελεγκτής (PLC) που ήταν επιφορτισμένος με τον έλεγχο, την εποπτεία και τη διαχείριση του Συστήματος. Επίσης υπήρχε προσωπικός Η/Υ άμεσα συνδεδεμένος στο σύστημα, μέσω του όποιου ο διαχειριστής του μπορούσε να παρακολουθεί, να διαχειρίζεται και να διανέμει τον κάθε τύπο από τις προσφερόμενες παροχές. Το σύστημα με την πάροδο του χρόνου εμφάνισε βασικά λειτουργικά προβλήματα, με αποτέλεσμα να μειωθεί δραστικά ο αριθμός των παρεχόμενων τύπων τάσεων, αλλά και η ικανότητα διαχείρισης και διανομής αυτών που παρέχονταν. Πιο συγκεκριμένα, το τμήμα τoυ προγραμματιζόμενoυ λογικού ελεγκτή (PLC) και του συνδεδεμένου Η/Υ του συστήματος ουσιαστικά και πρακτικά είχε τεθεί πλέον πλήρως εκτός λειτουργίας. Στόχος και σκοπός της παρούσας εργασίας ήταν η λύση των προβλημάτων του προαναφερθέντος συστήματος με τελικό αποτέλεσμα την κανονική και ομαλή λειτουργία του. Η λύση που προτείνεται είναι η υλοποίηση και η ενσωμάτωση ενός σύγχρονου δικτύου αυτοματισμού με τη χρήση σύγχρονων PLC (επιλέχθηκε η εταιρεία OMRON) καθώς και η ενσωμάτωση ενός συστήματος εποπτικού και διαχειριστικού ελέγχου, λογισμικό τύπου SCADΑ της ίδιας εταιρείας. Αναλύονται διεξοδικά τόσο ο τρόπος παραγωγής των τάσεων με τα αντίστοιχα κυκλώματα ισχύος όσο και ο τρόπος διανομής και διαχείρισης αυτών με τα αντίστοιχα κυκλώματα αυτοματισμού. Εμπεριέχονται εκτενείς αναφορές στα σύγχρονα PLC, στον τρόπο λειτουργίας και προγραμματισμού τους καθώς και ο τρόπος με τον οποίο είναι δυνατό να ενσωματωθούν και να λειτουργήσουν πλήρως στο υπάρχον σύστημα. Γίνεται μια εισαγωγή στα σύγχρονα συστήματα διαχείρισης και εποπτικού ελέγχου (SCADA) ώστε να μπορεί ο κάθε αναγνώστης, χωρίς να χρειάζονται υψηλού επιπέδου γνώσεις, να κατανοήσει τη χρησιμότητα και τη λειτουργία τους και μελετείται ο τρόπος με τον οποίο θα υλοποιηθεί το παραπάνω δίκτυο αυτοματισμού με τη χρήση των PLC και με την παρουσία του εποπτικού συστήματος SCADA. Γίνεται πλήρης αναφορά σε έναν πολύ βασικό τομέα του Ηλεκτρολόγου Μηχανικού στη σύγχρονη εποχή: τον υπολογισμό κόστους προμήθειας, εγκατάστασης και κατασκευής όλων των στοιχείων του εγχειρήματος και μελετούνται όλες οι παράλληλες επιλογές για την καλύτερη δυνατή λειτουργία του και την περαιτέρω ανάπτυξη και βελτίωση του. / The year 1987 in the Department of Electrical and Computer Engineering University of Patras and specifically in Electromechanical Energy Conversion Laboratory Department of Electrical Engineering, in educational and research purposes, installed a complete automated system for producing and providing electrical voltages. This system was able to provide 10 different types of voltages in 15 stations in the area of Laboratory. The system was fully automated, used a Programmable Logic Controller (PLC), which was responsible for monitoring, supervision and management system. Also there was a PC directly connected to the system, through which the administrator can monitor, manage and distribute each type of voltage. The system through the walking time showed major operational problems. As a result, the number of the types of voltages and the ability to manage and distribute those provided reduced drastically. Specifically, the part of programmable logic controller (PLC) and the connected computer system effectively and practically has run out of order. The purpose of this work was the solution of problems of the system and ultimately with final result the normal and smooth operation. The solution proposed is the implementation and integration of a modern network automation using modern PLC (the company chosen is OMRON) and the incorporation of a supervisory control and data acquisition application and (SCADA) software of the same company. Analyzed in detail both the production voltages with the respective power circuits and the method of distribution and management of the automation circuits. Contained extensive references to contemporary PLC, in operations and programming, and how it is possible to integrate and operate fully in the existing system. There is an introduction to SCADA to enable each reader without the need for high-level knowledge to understand the utility and operation, and considering how we implement the above automation network using a PLC and SCADA application. We mention a very important area of Electrical Engineering in the modern era: counting the cost of supply, installation and construction of all elements of the project and consider all parallel options for optimal operation and further development and improvement.

Made available in DSpace on 2016-12-12T17:38:31Z (GMT). No. of bitstreams: 1 SUZANA RIBAS DE ALMEIDA.pdf: 2655112 bytes, checksum: 346dca905796b24136deb70b7263fb5b (MD5) Previous issue date: 2012-02-15 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / Nowadays the competition between companies is increasing. In a production system, efficiency, speed and flexibility are important means for cost reductions. The complexity of automation systems has been increasing, which makes necessary the implementation of more efficient control programs, free of errors and easy to maintain. However, in most practical applications the solution of these problems is dependent on designer's experience and doesn t follow a formal methodology, which results in programs with errors and difficulties to understand and maintain, since only the designer understands the adopted solutions. The Supervisory Control Theory (SCT) is a method extensively researched in academic circles for the synthesis of control logic of automated systems. It allows control problems to be solved in a formal way, ensuring a minimally restrictive and no blocking solution that meets the control specifications. However, this theory is not widely used in industrial environments yet, once the methods for implementation of supervisors obtained by TCS are still deficient. Thus, the intention of this Dissertation consists of showing a methodology for implementation of supervisory control in Programmable Logic Controllers (PLCs). In this work, the synthesis of supervisors is made in accordance to local modular approach, which brings the benefits of a formal methodology and allows exploring the modularity of the plant and the control specifications. The implementation is based on an architecture structured in three levels: supervisor, interface and system to be controlled. For the implementation in CLP three different programming languages are applied: the high-level languages Sequential Function Charts (SFC) and Structured Text and the low-level Ladder Diagram language in some parts. The development of the methodology was based on two works: a doctoral thesis by Vieira (2007) and master thesis by Cruz (2011) and brought together the advantages presented in each one of these. To compare the proposed methodology and the two mentioned methods, several tests were made on a manufacturing cell available at PUCPR and simulations on a PLC and computer as well. The results show that the use of the methodology proposed in this work makes possible to implement PLC programs that are able to treat all non-controllable events occurred in the system to be controlled and treat one controllable event by each control cell in the same scan cycle. Furthermore, the use of high-level languages results in a program of easier interpretation and maintenance, also enabling reutilization of codes. In this work some problems related to CLPs implementations are also showed and proposals for solving them are presented, as properties as well that, if accepted, ensure that the problem does not occur. / Hoje em dia a competitividade entre as empresas está cada vez maior. Em um sistema de produção, a eficácia, a velocidade e a flexibilidade são importantes, pois significam redução de custos. Os sistemas de automação atuais estão cada vez mais complexos, justificando a necessidade de programas de controle mais eficientes, sem erros e de fácil manutenção. Entretanto, na maioria das aplicações práticas a solução destes problemas é feita com base na experiência do projetista, não seguindo uma metodologia formal, o que resulta em programas com erros e de difícil entendimento e manutenção, uma vez que só o projetista entende perfeitamente as soluções adotadas. A Teoria de Controle Supervisório (TCS) é um método para a síntese da lógica de controle de sistemas automatizados. Ela permite que problemas de controle sejam solucionados de modo formal, garantindo uma solução minimamente restritiva e não bloqueante e que atenda às especificações de controle. Entretanto, esta teoria ainda não é amplamente adotada em ambientes industriais, sendo a carência de métodos de implementação dos supervisores obtidos via TCS um elemento que contribui para que isso aconteça. Assim, esta dissertação se propõe a apresentar uma metodologia de implementação de controle supervisório em Controladores Lógicos Programáveis (CLPs). Neste trabalho, a síntese de supervisores é feita de acordo com a abordagem modular local, que traz os benefícios de uma metodologia formal e ainda permite explorar a modularidade da planta e das especificações de controle. A implementação é baseada numa arquitetura estruturada em três níveis: supervisor, interface e sistema a ser controlado. Para a implementação em CLP são empregadas três linguagens distintas de programação, as linguagens de alto nível Sequential Function Charts (SFC) e Structured Text, bem como a linguagem Ladder Diagram em algumas partes. O desenvolvimento da metodologia foi baseado em dois trabalhos: a tese de doutorado de Vieira (2007) e a dissertação de mestrado de Cruz (2011) e permitiu reunir as vantagens apresentadas em cada um destes. Para comparação entre a metodologia proposta e as duas metodologias citadas, foram feitos diversos testes em uma célula de manufatura existente na PUCPR, bem como simulações em CLP e em computador. Os resultados mostram que a metodologia proposta neste trabalho permite a implementação de programas em CLP que, num mesmo ciclo de varredura, são capazes de tratar todos os eventos não controláveis ocorridos na planta e ainda um evento controlável por célula de controle. Além disso, o uso de linguagens de alto nível resulta em um programa de mais fácil interpretação e manutenção, possibilitando ainda o reaproveitamento de códigos. Nesta dissertação também são abordados alguns problemas de implementação da estrutura de controle supervisório em CLPs, apresentando-se propostas para solucioná-los, bem como propriedades que, se atendidas, garantem que o problema não ocorra.

Master’s thesis describes adaptive optimal controller design which change parameters of algorithm based on the system information regard for optimal criterion. Generally, the optimal controller solves the problem of minimum states vector. Problems of desired value and steady-state error are solved by variation in optimization algorithm.

Master’s thesis describes adaptive optimal controller design and it’s settings. Identification with principles of artificial intelligence and recursive least squares identification with exponential and directional forgetting are compared separately and as part of controller. Adaptive optimal controller is tested on physical model and compared with solidly adjusted PSD controller. Possibilities of implementation of adaptive optimal controller into programmable logic controller B&R are show and tested.