Course detail

Controlled Dynamical Systems

FSI-RDOAcad. year: 2013/2014

This course deals with the computer modelling of dynamic of MBS. Thus the previous knowledge of Mechanics is directly extended. The solution of ODE is carried out in Matlab as well as in Simulink. Also, the control close loop model is added to mechanical model and the behaviour of system is observed. Moreover, the selected problems of simulation modelling of MBS is described, mainly the friction, impact and contact modelling.
In laboratory exercises, the FPGA is used for rapid control prototyping.

Language of instruction

Czech

Number of ECTS credits

4

Mode of study

Not applicable.

Guarantor

doc. Ing. Robert Grepl, Ph.D.

Department

Institute of Solid Mechanics, Mechatronics and Biomechanics (ÚMTMB)

Learning outcomes of the course unit

Students obtain knowledge related to these fields:
- dynamic system theory
- mathematical models of components of model
- linear dynamic systems and their analysis
- modelling in Matlab/Simulink
- modelling of controlled systems
- introduction to signal processing and programming of FPGA

Prerequisites

Vector algebra. Matrix algebra. Mathematics in the range of previous study.

Co-requisites

Not applicable.

Planned learning activities and teaching methods

The course is taught through lectures explaining the basic principles and theory of the discipline. Exercises are focused on practical topics presented in lectures. Teaching is suplemented by practical laboratory work.

Assesment methods and criteria linked to learning outcomes

The course is evaluated on the base of active participation in exercises and the result of semester project.

Course curriculum

Not applicable.

Work placements

Not applicable.

Aims

Students will be made familiar with the modelling of mechanical, electromechanical and controlled systems on computer.

Specification of controlled education, way of implementation and compensation for absences

The attendance is checked in exercises. Students are supposed to prepare semester project.

Recommended optional programme components

Not applicable.

Prerequisites and corequisites

Not applicable.

Basic literature

Not applicable.

Recommended literature

Valášek M. a kol.: Mechatronika, Vydavatelství ČVUT Praha, 1995

Classification of course in study plans

  • Programme B3901-3 Bachelor's

    branch B-MET , 3 year of study, summer semester, compulsory

  • Programme N2301-2 Master's

    branch M-KSI , 2 year of study, summer semester, elective (voluntary)

Type of course unit

 

Lecture

26 hod., optionally

Teacher / Lecturer

doc. Ing. Robert Grepl, Ph.D.

Syllabus

1. Introduction, motivation, examples
2. Dynamic system with continuous time
3. Solution of ODE in Matlab
4. Solution of ODE in Simulinku
5. Application of Maple for equation building
6. Dynamic systems with discrete time
7. Impact, friction and contact modeling in MBS
8. Linearization
9. State space models of linear systems
10. Control of linearized mechanical systems
11. Verification of nonlinear plant model with linear control
12. Stability of linear systems
13. Presentation of semestral project results

Computer-assisted exercise

6 hod., compulsory

Teacher / Lecturer

doc. Ing. Robert Grepl, Ph.D.

Syllabus

1. Introduction to Matlab and Simulink
2.-3. Modelling of linear oscilator
4.-6. Work on semestral project, tutorial