Course detail

Control of Mechatronic Systems

FSI-RRMAcad. year: 2014/2015

Control theory of linear discrete systems, Z-transform, transfer functions, feedback systems, stability of feedback systems, design of digital controllers, discrete state feedback control, discrete state feedback control with an observer, discrete state feedback control with disturbing compensation, implementation of discrete algorithms in microcomputers, examples of control of mechatronic systems (NC machines, robots).

Language of instruction

Czech

Number of ECTS credits

6

Mode of study

Not applicable.

Guarantor

prof. Ing. Jiří Skalický, CSc.

Department

Institute of Solid Mechanics, Mechatronics and Biomechanics (ÚMTMB)

Learning outcomes of the course unit

Acquired knowledge enables students to solve dynamic systems in the time domain as well as in the frequency domain, to design feedback controllers with a prescribed behavior of the closed loop, application for a position control of servodrives for NC machines and robots

Prerequisites

Linear differential equations, matrix calculus, principles of electrical engineering, mechanics, electrical servodrives

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. Teaching is suplemented by practical laboratory work.

Assesment methods and criteria linked to learning outcomes

The course-unit credit is awarded on condition of having to elaborated given problems. Individual solution is expected applying program MATLAB/SIMULINK. Examination has a written and an oral part.

Course curriculum

Electrical drive as a system
Design process of electrical drive
Evaluation of variant projects
Interaction of the drive with a working machine
Structures of control circuits
Protection conceptions
Structure of project documentation
Types of electrical schemes
Reliability of electrical equipments, reliability parameters
Statistic estimation of reliability parameters
Experimental verification of reliability
Electromagnetic compatibility
Design of electrical drives resistant from disturbances

Work placements

Not applicable.

Aims

The goal of the subject is to provide students with basic knowledge of control theory of dynamical systems and its application to control mechatronic and robotic systems by a feedback controller.

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

Mandatory numeric and computer exercises

Recommended optional programme components

Not applicable.

Prerequisites and corequisites

Not applicable.

Basic literature

Ogata, K.: Modern Control Engineering, Prentice Hall,1997
Philips, Ch. a j.: Digital Control System Analysis and Design, Prentice Hall, 1995
Zboray, L. a j.: Stavové riadenie el. pohonov, FEI KOšice, 1995

Recommended literature

Skalický, J.: Teorie řízení 1, skripta VUT FEKT, 2002
Vavřín, P.:: Teorie automatického řízení 1, skripta VUT FEI, 1991
Kotek, Z., a j.: Teorie automatického řízení spojitých lineárních systémů,ČVUT Praha, 1977

Classification of course in study plans

  • Programme N3901-2 Master's

    branch M-MET , 1 year of study, summer semester, compulsory

Type of course unit

 

Lecture

39 hod., optionally

Teacher / Lecturer

Ing. Petr Huták, Ph.D.

Syllabus

1. Introduction, dynamic systems, mathematical models
2. State space representation of dynamic systems, the meaning of eigenvalues of A matrix
3. Transfer functions, frequency response, time response
4. Block diagrams of control systems
5. Feedback systems, stability
6. Types of controllers
7. Design of feedback systems,
8. State feedback control
9. State feedback control with an observer
10.Digital control systems
11.Discrete control theory, Z-transform
12.Design method of numeric controllers
13.Discrete state control

E-learning texts

Skalický, J.: Stavové řízení elektrických pohonů
Stavové řízení elektrických pohonů.pdf 0.7 MB