Control Systems _ MR2013

Sistemas de Control

ITESM Chihuahua

2

Questions ?

Raise Your Hand!

at any time!!

Introduccion

Sistemas de Control

3

Introduccin

4

Qu es un Sistema? Qu es Control? Qu es un Sistema de Control?

Introduccin

5

Definition according to DIN 19226 regulation and control

technology:

are related to each other. This array is separated from its

surrounding by certain

[DIN 19226, Part1: 1994]

Control

6

According to DIN 19237 the control serves for the

influence of the output variables of a system by one or

more input parameters due to the system specific behavior. [G. Phal, W. Beitz, J. Feldhusen, K.H. Grote 2003, S. 571]

DIN 19237 - Measurement and control; control engineering vocabulary

Introduccin

7

Qu es un Sistema?

Qu es un Sistema de Control?

Introduccin

8

A Control System is an interconnection of components

forming a system configuration that will provide a desired

system response.

A Control System consists of subsystems and processes

(or plants) assembled for the purpose of obtaining a desired

output with desired performance, given a specified input.

Nise System Engineering

Introduccin

9

Why do you need a

control system at all?

Introduccin

10

Productivity is defined as the ratio of physical output

to physical input.

Functions of a Control System

11

Measurement

Comparison

Computation

Correction

Modes of Control DIN 19237

12

Manual Control . A system that involves a person

controlling a machine.

Ponton ECOSSE Control HyperCourse jwp/control06/controlcourse

Modes of Control DIN 19237

13

Automatic Control . A control system that involves

machines only.

Ponton ECOSSE Control HyperCourse

Automation

14

The control of an industrial process (manufacturing,

production, and so on) by automatic means rather than

manual is often called automation .

Nise System Engineering

Aims of Control Systems

15

Regulator . A system designed to hold an output steady

against unknown disturbances.


16

Tracking (Servo) System . A system designed to track

a reference signal.


17

Sequential Control , The ability to ensure that a

connected series of events occur in a certain order.

An automatic sequential control system may trigger a series

of mechanical actuators in the correct sequence to perform

a task.

Programmable Logic Controllers (PLC) are used in many

cases such as this.

Home -Work1

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Home -Work 2

19

Hand-Written Summary Upload it to BlackBoard

(min 1 page, max 2 pages)

Dorf SystemsSection Brief History

of Automatic

Nise Systems EngineeringSection History

of Control Systems

Feedback Control of Dynamic Systems Section

Brief History of Feedback

Clasificacin de los Sistemas de Control

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Signal-oriented classification

Analog, Digital and Binary (Logic) Control

Function -oriented classification

Combinatorial and Sequential Control

M. Polke Process Control Engineering

Analog Control

21

Digital Control

22

Binary (Logic ) Control

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Combinatorial Control

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Sequential Circuit

25

Overview of Control Types

26

Electrical Control

Logic Control

Sequential Circuit

Combinatorial Circuit

Sequential Control

Time Bounded Process Bounded

Cyclic Signal Processing

Event Oriented Signal Processing

Open -Loop

27

Open -Loop

28

Closed -Loop

29

Tarea 3

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Hand-Written Summary Upload it to BlackBoard - (min

2 page, max 4 pages)

Control technology Answers for infrastructure,

SIEMENS www.siemens.com/bt/file?soi=8361

Terminology and Symbols in Control Engineering

Technical Information - SAMSON

http://www.samson.de/pdf_en/l101en.pdf

Sistemas de Control Lgico

Sistemas de Control

31

Sistemas de Eventos Discretos

32

Muchos procesos no son continuos.

Sus variables solo admiten un nmero finito de valores (valores estados discretos).

Los valores de las variables no cambian de forma continua en el tiempo, sino en instantes determinados (eventos).

Problemas de control lgicos y secuencial.

Valores (Estados) Discretos

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34


35

Switching Algebra and Logic Gates

36

In a 1937 paper, Claude Shannon implemented a two-element Boolean algebra with a circuit of switches.

Now a switch is a device that can be placed in either one of two stable positions: off or on.

These positions can just as well be designated 0 and 1 (or the reverse). For this reason, two-element Boolean algebra has been called switching algebra.

The identity elements themselves are called the switching constants. Similarly, any variables that represent the switching constants are called switching variables

Switching Algebra

37

Propositional logic is concerned with simple propositions whether or not they are true or false, how the simple propositions can be combined into more complex propositions, and how the truth or falsity of the complex propositions can be deduced from the truth or falsity of the simple ones.

A simple proposition is a declarative statement that may be either true or false, but not both.

It is said to have two possible truth values:

true (T) or false (F)

Algebra Booleana

Sistemas de Control

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Switching Algebra

39

Over the centuries a number of different algebraic

systems have been developed in different contexts. The

language used in describing each system and the

operations carried out in that system made sense in the

context in which the algebra was developed.

The algebra of sets is one of these; another is a system

called propositional logic , which was developed in the

study of philosophy.

Switching Algebra

40

It is possible for different algebraic systems, arising from

different contexts, to have similar properties.

This possibility is the basis for the following definition:

algebraic systems are said to be isomorphic if

they can be made identical by changing the names of

the elements and the names and symbols used to

designate the operations.

Switching Algebra

41

It turns out that two-valued Boolean algebra is isomorphic with propositional logic. Hence, whatever terminology, operations, and techniques are used in logic can be applied to Boolean algebra, and vice versa.

To illustrate, the elements of Boolean algebra (1 and 0) correspond to the truth (T) or falsity (F) of propositions; T and F could be labeled 1 and 0, respectively, or the opposite. Or the elements of Boolean algebra, 1 and 0, could be the ideas of truth and falsity have no philosophical meaning in Boolean algebra.

WARNING!!!

42

Boolean Algebra

43

Boolean algebra, like any other axiomatic mathematical

structure or algebraic system, can be characterized by

specifying a number of fundamental things:

1. The domain of the algebra, that is, the set of elements

over which the algebra is defined.

2. A set of operations to be performed on the elements

3. A set of postulates, or axioms, accepted as premises

without proof.

4. A set of consequences called theorems, laws, or rules,

which are deduced from the postulates

Boolean Algebra

44

The postulates we shall adopt here are referred to as postulates. Boolean algebra is like ordinary algebra

in some respects but unlike it in others.

The set of elements in Boolean algebra is called its domain and is labeled B.

An m-ary operation in B is a rule that assigns to each ordered set of m elements a unique element from B.

A binary operation involves an ordered pair of elements .

A unary operation involves just one element

Switching Operations

45

A unary operation and two binary operations, with names

borrowed from propositional logic, were introduced in

postulates.

For two-element (switching) algebra it is common to

rename these operations, again using terms that come

from logic.

Postulates

46

Closure . There exists a domain B having at least two distinct elements and two binary operators (+) and ( ) such that:

If x and y are elements, then x + y is an element. The operation performed by (+) is callled

logical addition (OR)

If x and y are elements, then x y is an element. The operation performed by ( ) is called

logical multiplication (AND)

Postulates

47

Identity elements. Let x be an element in domain B.

There exists an element 0 in B, called the identity

element with respect to (+) , having the property

x + 0 = x

There exists an element 1 in B, called the identity element

with respect to , having the property that

X = x

Postulates

48

Commutative law

Commutative law with respect to addition (OR):

x + y = y + x

Commutative law with respect to multiplication (AND):

x y = y x

Postulates

49

Distributive law

Multiplication (AND) is distributive over addition (OR):

x y + z) = (x y) + (x z)

Addition (OR) is distributive over multiplication (AND):

x + (y z) = (x + y x + z)

Postulates

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Complementation.

If x is an element in domain B, then there exists another

element , the complement of x, satisfying the

properties:

x + = 1

x = 0

Fundamental Theorems

51

Null Law

x + 1 = 1

x = 0


52

Proof :

x 0

1. x 0 + ( x Postulate 2a

2. x = ( x ) + ( x Postulate 5b

3. x x x' + 0 ) Postulate 4a

4. x = x x' Postulate 2a

5. x = 0 Postulate 5b


53

Proof :

x +1 = 1

1. x + 1 = 1 ( x + 1 ) Postulate 2b

2. x + 1 = ( x + ) ( x + 1 ) Postulate 5a

3. x + 1 = x + ( x' 1 ) Postulate 4b

4. x + 1 = x + x' Postulate 2b

5. x + 1 = 1 Postulate 5a

Duality

54

x = 0

1. x x

2.x = ( x ) + ( x

3.x x x' + 0 )

4.x = x x'

5.x = 0

x + 1 = 1

1. x + 1 = 1 ( x + 1 )

2. x + 1 = ( x + x + 1 )

3.x + 1 = x + ( x' 1 )

4.x + 1 = x + x'

5. x + 1 = 1

Principle of duality

55

1. Interchanging the OR and AND operations of the

expression.

2. Interchanging the 0 and 1 elements of the expression.

3. Not changing the form of the variables.


56

Involution

(x')' = x

In words, this states that the complement of the

complement of an element is that element itself. This

follows from the observation that the complement of an

element is unique.


57

Idempotency

x + x = x

x x = x


58

Proof:

x + x = (x + x Postulate 2b

x + x = (x + x x + x') Postulate 5a

x + x = x + x x' Postulate 4b

x + x = x + 0 Postulate 5b

x + x = x Postulate 2a


59

Proof:

x x = x


60

Absorption

x + xy = x

x(x + y) = x


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Simplification

x + x'y = x + y

x(x' + y) = xy


62

Associative Law

x + (y + z) = (x + y) + z = x + y + z

x(yz ) = (xy)z = xyz


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Consensus

xy + x'z + yz = xy + x'z

(x + y)(x' + z)(y + z) = (x + y)(x' + z)


64

De Law

(x + y =

(xy = +

Funciones Lgicas Basicas

Sistemas de Control

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AND Operation

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Logical multiplication (AND) of two variables, xy.

The operation will result in different values depending on

the values taken on by each of the elements that the

variables represent.

Thus, if x = 1, then xy = y;

but if x = 0, then xy = 0,

independent of y.

AND Operation

68

Logical multiplication (AND) of two variables, xy .

This compound proposition is true only if

both of the simple propositions and

y are true ;

it is false in all other cases.

AND Operation

69

Truth Table for the AND Operation.

Here:

0 -> False

1 -> True

Otherwise stated.

OR Operation

70

Logical Sum (OR) of two variables, x+y.

The operation will result in different values depending on

the values taken on by each of the elements that the

variables represent.

Thus, if x = 1, then x+y = 1;

but if x = 0, then x+y = y.

Thus, if y = 1, then x+y = 1;

but if y = 0, then x+y = x.

OR Operation

71

Logical Sum (OR) of two variables, x+y .

This compound proposition is true if

either of the simple propositions and

y are true ;

it is false only if both are false .

OR Operation

72

Truth Table for the Logical Sum (OR)

Operation.

Here:

0 -> False

1 -> True

Otherwise stated.

NOT Operation

73

The complement operation is isomorphic with negation,

or NOT, in logic.

NOT operation over one variable x.

The operation will result in the complement of the value of

the variable X.

Thus, if x = 1, then

but if x = 0, then = 1.

.

ISO / IEC

74

ISO (the International Organization for Standardization) is a worldwide federation of national standards bodies (ISO member bodies).

IEC (the International Electrotechnical Commission) is the leading organization that prepares and publishes

International Standards for all electrical, electronic and related technologies

ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization.

ISO 14617

75

The purpose of ISO 14617 in its final form is the creation of

a library of harmonized graphical symbols for diagrams used

in technical applications. This work has been, and will be,

performed in close cooperation between ISO and IEC. The

ultimate result is intended to be published as a standard

common to ISO and IEC, which their technical committees

responsible for specific application fields can use in

preparing International Standards and manuals.

ISO 14617 -5:2002 / IEC 60617

76

ISO 14617-5:2002(en)

Graphical symbols for diagrams

Part 5 : Measurement and control devices

This part of ISO 14617 specifies graphical symbols for

components and devices used in measurement and control

systems, represented in diagrams.

IEC 60617 - Graphical Symbols for Diagrams

DIN

77

DIN, the German Institute for Standardization, develops

norms and standards as a service to industry, the state and

society as a whole.

DIN 40900 -12 (1992-09)

Graphical Symbols For Diagrams; Binary Logic

Elements

NEMA

78

The National Electrical Manufacturers Association (NEMA)

is the association of electrical equipment and medical

imaging manufacturers.

NEMA provides a forum for the development of technical

standards that are in the best interests of the industry and

users, advocacy of industry policies on legislative and

regulatory matters, and collection, analysis, and

dissemination of industry data. In addition to its

headquarters in Rosslyn, Virginia, NEMA also has offices in

Beijing and Mexico City.

ANSI

79

The American National Standards Institute is a private non-

profit organization that oversees the development of

voluntary consensus standards for products, services,

processes, systems, and personnel in the United States.

The Institute oversees the creation, promulgation and use

of thousands of norms and guidelines that directly impact

businesses in nearly every sector: from acoustical devices to

construction equipment, from dairy and livestock

production to energy distribution, and many more.

IEEE

80

IEEE, pronounced "Eye-triple-E," stands for the Institute of

Electrical and Electronics Engineers.

IEEE is the world's largest professional association

dedicated to advancing technological innovation and

excellence for the benefit of humanity. IEEE and its

members inspire a global community through IEEE's highly

cited publications, conferences, technology standards, and

professional and educational activities.

CSA Group

81

CSA Group is an independent, not-for-profit member-based

association dedicated to advancing safety, sustainability and

social good. We are an internationally-accredited standards

development and testing & certification organization. We

also provide consumer product evaluation and education &

training services. Our broad range of knowledge and

expertise includes: industrial equipment, plumbing &

construction, electro-medical & healthcare, appliances & gas,

alternative energy, lighting and sustainability.

NEMA ICS/ANSI/IEEE/CSA

82

NEMA ICS 19-2002 (R2007)

Diagrams, Device Designations and Symbols

ANSI Y32.2

Electrical and Electronics Diagrams, Graphic Symbols

ANSI Y32.14

Logic Diagrams, Graphic Symbols

CSA Z99:1975

Graphic Symbols For Electrical And Electronics Diagrams

NEMA ICS/ANSI/IEEE/CSA

83

IEEE Std 91

IEEE Standard Graphic Symbols for Logic Functions.

IEEE Std 315

IEEE Standard Graphic Symbols for Electrical and

Electronics Diagrams (Including Reference Designation

Letters).

IEEE Std 991

IEEE Standard for Logic Circuit Diagrams.

Circuit Symbols

IEC (DIN EN) NEMA ICS/ANSI/IEEE

84

Indicator light, general symbol

Circuit Symbols


85

N/O (Normally Open) contact

Circuit Symbols


86

N/C (Normally Close) contact

Identity

87

Negation

88

OR

89

AND

90

Tablas de Verdad, Expresiones y

Funciones

Sistemas de Control

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Truth Table

92

The truth-table method of proving a relationship among

switching variables, by verifying that the relationship is true

for all possible combinations of values of the variables, is

called the method of perfect induction.

Switching Expressions

93

A switching expression is a finite relationship

among switching variables (and possibly the

switching constants 0 and 1), related by the AND,

OR, and NOT operations.

E = (x + yz)(x + y') + (x + y

for simplicity, we refer to variables or complements of variables

as literals

Switching Expressions

94

An expression will be redundant if it contains:

Repeated literals (xx or x + x)

A variable and its complement (xx ' or x + x')

Explicitly shown switching constants (0 or 1)

Redundancies in expressions need never be implemented in

hardware; they can be eliminated from expressions in which

they show up.

Canonic Forms

95

Given an expression dependent on n variables , there

are two specific and unique forms into which the

expression can always be converted.

Sum-Of-Products (SOP)

Product-Of-Sums (POS)

Sum Of Products (SOP)

96

In the general case, expressions are dependent on n

variables. We will consider two non-redundant cases. In one

case, an expression consists of nothing but a sum of terms,

and each term is made up of a product of literals.

Naturally, this would be called a sum-of-products (s-of-p)

form.

E(x,y,z) = xy' + x'y + xz + xyz

The maximum number of literals in a non-redundant product is n.

Product -Of-Sums (POs)

97

In the second case to be considered, an expression consists

of nothing but a product of terms, and each term is made

up of a sum of literals; this is the product-of-sums (p-of-s)

form.

E(x,y,z) = (x+y x y)(

the maximum number of literals in a non-redundant sum is n.

Canonic Forms

98

A sum-of-products or product-of-

sums expression dependent on n

variables is canonic if it contains

no redundant literals and each

product or sum has exactly n

literals.

Canonic Forms

99

E(x,y,z) = (x' + y' + z)(x + y + z')(x + y + z)

Ejercicio: Ir de la forma canonica a SOP o POS eliminado redundancias.

Tarea 4

100

Investigar como convertir una expresin en forma no-

cannica a forma cannica.

Realizar al menos 10 ejemplos.

Minterms

101

In a sum-of-products expression dependent on n

variables , in order to distinguish between product terms

having n literals (the maximum) and those having fewer

than n, the following definition is made:

A canonic non-redundant

product of literals is called a

minterm

Maxterms

102

In a product -of-sums expression dependent of n

variables , in order to distinguish between sum terms

having n literals and others, the following definition is

made:

A canonic non-redundant sum of

literals is called a maxterm .

103

Complementing the sum (product) of n switching variables

gives the same result as multiplying (adding) their

complements.

)

)

Switching Functions

104

Complete the thruth table for the following expressions:

E1 = x + x y E2 = x + y

Switching Functions

105

For any combination of variable values, each expression

takes on a value that is found by substituting the variable

values into it. When this is done for all combinations of

variable values, the result is a truth table.

For n variables , the number of

combinations of values is 2n

Switching Functions

106

Exercise . Using a truth table, confirm that the expression:

E = xy + xy + y

has the same truth values as E1 and E2

Switching Functions

107

A switching function is a specific

unique assignment of

switching values 0 and 1 for all

possible combinations of values

taken on by the variables on which

the function depends.

Switching Functions

108

Switching Functions

109

For a function of n variables there are 2n possible

combinations of values.

For each combination of values , the function can take on

one of two values.

Hence, the number of distinct assignments of two values

to 2 n things is 2 to the 2n power .

The number of switching functions

of n variables is 2 to the 2n.

Switching Functions

110

It is clear that functions and, therefore, expressions that represent functions can be treated as if they were variables.

Thus, switching laws apply equally well to switching expressions as to variables representing the switching elements .

A function is defined by listing its truth values for all combinations of variable values, that is, by its truth table.

An expression, on the other hand, is a combination of literals linked by switching operations.

For a given combination of variable values, the expression will take on a truth value.

Switching Functions

111

Expansion Theorem

112

Any switching function of n variables can

be expressed as a sum of products of n

literals, one for each variable.

Any switching function of n variables can

be expressed as a product of sums of n

literals, one for each variable.

XOR,NAND,NOR, XNOR

Sistemas de Control

113

Other Switching Operation

114

Exclusive OR

Exclusive OR, XOR for short, and is given the symbol .

Thus, x y is true when x and y have

opposite truth values, but it is false

when x and y have the same value.

x y = x'y + xy'

NAND, NOR, and XNOR Operations

115

Besides the NOT operation, we now have three in our

repertoire: AND, OR, and XOR.

Three additional operations can be created by negating

(complementing, or taking the NOT of) these three:

NAND (NOT AND ): (xy)' = x' + y'

NOR (NOT OR ): (x + y)' = x'y'

XNOR (NOT XOR ): (x y)' = (x'y + xy')' = xy + x'y'

Basic Switching Operations

116

Universalidad de las operaciones

NAND y NOR

Sistemas de Control

117

UNIVERSAL SETS OF OPERATIONS

118

A set of operations is called

universal if every switching

function can be expressed

exclusively in terms of

operations from this set.


119

the set of operations

{AND, OR, NOT}

is universal.


120

NAND y: (xy)' = x' +

NOR y: (x + y)' = x'y'

We see that the right sides of these expressions are each

expressed in terms of only two of the three universal

operations (OR and NOT for the first, and AND and NOT

for the second)


121

Consider the AND operation, xy.

be written as:

xy = (x' + y')'

The only operations on the right are OR and NOT. Since

every AND can be expressed in terms of OR and NOT, the

set {AND, OR, NOT} can be expressed in terms of the set

{OR, NOT}.

Conclusion :

The set {OR, NOT} is a universal set.


122

Consider the OR operation, x+y.

be written as:

x+y = (x'y')'

The only operations on the right are AND and NOT. Since

every OR can be expressed in terms of AND and NOT, the

set {AND, OR, NOT} can be expressed in terms of the set

{AND, NOT}.

Conclusion :

The set {AND, NOT} is a universal set.


123

NOT} is universal, if we can express both those operations

in terms of NAND, then, {NAND} will be universal! Here

we go:

x' = x' + x' = (xx)'

xy = ((xy)')' = [( xy)' ( xy)']'


124

Any switching function

can be expressed


NAND operations.


125

NOR operation. Since the set {OR, NOT}

is universal, if we can express both those operations in

terms of NOR then, {NOR} will be universal! Here we go:

x' = = (x+x

xy = ( = [( x+x y+y


126

Any switching function

can be expressed


NOR operations.

Compuertas Lgicas

Sistemas de Control

127

Logic Gates

128

The generic name given to a physical device that

carries out any of the switching operations is

gate.

Schematic Symbols for logic gates

Logic Gates Schematic Symbols

129


130


131


132

Tarea 5

133

Investigar los siguientes estndares:

US ANSI / IEEE 91-1984

IEC 60617-12 : 1997

Integrated Circuits Typical SSI

134

TTL Logic Levels

135


136


137


138

Tarea 6

139

Buscar y descargar:

Digital Logic Pocket Data Book, Texas Instruments.

Traducir y copiar la siguiente pagina a su cuaderno:

https://learn.sparkfun.com/tutorials/logic-levels/all
https://learn.sparkfun.com/tutorials/logic-levels/allhttps://learn.sparkfun.com/tutorials/logic-levels/allhttps://learn.sparkfun.com/tutorials/logic-levels/allhttps://learn.sparkfun.com/tutorials/logic-levels/all

Lgica de Relevadores

Sistemas de Control

140

Relay Logic

141

The term Relay generally refers to a

device that provides an electrical

connection between two or more

points in response to the application

of a control signal.

The most common and widely used

type of electrical relay is the

electromechanical relay or EMR.

Relay Logic

142

Relays are switches that open and close circuits electromechanically or

electronically. Relays control one electrical circuit by opening and closing

contacts in another circuit.

Relay Logic

143

Relay IEC Symbol

144

Common (C)

Normally -

Closed

(NC)

Normally -

Open

(NO) Coil

Coil

Relay - Symbols

145

Relay - Symbols

146

Relay - Connections

147

Relay Automotive

148

Relays - Automotive

149

Relay Circuit Example

150

Tarea - 7

151

Traducir y copiar la siguiente pagina a su cuaderno

Sparkfun Learn Tutorials Switch Basic

https://learn.sparkfun.com/tutorials/switch-basics/all
https://learn.sparkfun.com/tutorials/switch-basics/allhttps://learn.sparkfun.com/tutorials/switch-basics/allhttps://learn.sparkfun.com/tutorials/switch-basics/allhttps://learn.sparkfun.com/tutorials/switch-basics/all

Relay Logic - Examples

152

Relay Logic Examples (NOT)

153

Relay Logic Examples (AND)

154

Relay Logic Examples (OR)

155

Relay Logic Examples (AND OR)

156

Relay Logic Examples

157

Relay Logic Examples

158

Diagramas de Escalera

Sistemas de Control

159

Relay Logic Diagram

160

A relay logic diagram illustrates the method by which an

industrial control system operates.

There are standard rules that should be followed when

creating relay logic diagrams.

Several standard symbols or legends are used to draw relay

logic circuits.

Relay Logic Diagramas

161

Relay logic diagrams are created to show

the logical relationship between devices.

Relay logic diagrams are sometimes

called:

elementary diagrams,

line diagrams,

or relay ladder logic (RLL).

A simple relay logic diagram

162

Relay Logic Diagrams : Basic Terminology

163

Rung: Horizontal line in a relay logic diagram that has input devices and an output device.

Rails: Two vertical lines labeled L1 and L2 that connect the rungs of a RLL diagram.

Relay coil : Device that, when energized, opens associated normally closed contacts and closes normally open contacts.

Contact : Device that opens and closes corresponding to the state of its associated relay coil. A normally open contact isclosed when its relay coil is energized. A normallyclosed contact is opened when its relay coil is energized.

relay coil and contacts in a RLL diagram

164

COIL

CONTACT

CONTACT

RAILS

RUNG

Normally Open Schematics

165

Normally Closed Schematics

166

Documents

Control Systems _ MR2013