Course detail

Control of Mechatronic Systems

FSI-RRMAcad. year: 2021/2022

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

2

Mode of study

Not applicable.

Guarantor

doc. Ing. Pavel Vorel, Ph.D.

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

Requirements for completion of a course are specified by a regulation issued by the lecturer responsible for the course and updated for every. 

Course curriculum

1 Nonlinear dynamic systems
2. Linearization of the model. The solution to your computer.
3. Synthesis of complex regulatory systems.
4. State space control with observer.LQR regulators.
5. Discrete control and computer realization
6. The state space model of synchronous and asynchronous motor.Vector control.
7. Adaptive control
8. Model reference adaptive control
9. Method of phase plane.
10. Relay controllers
11. Controllers in sliding mode.
12. Method of harmonic linearization.
13. Fuzzy control
 

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

Attendance at practical training is obligatory.

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 reading

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

Classification of course in study plans

  • Programme N-MET-P Master's 1 year of study, summer semester, elective

Type of course unit

 

Lecture

39 hod., optionally

Teacher / Lecturer

doc. Ing. Pavel Vorel, 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

Laboratory exercise

39 hod., compulsory

Teacher / Lecturer

doc. Ing. Pavel Vorel, Ph.D.

Syllabus

Laboratory exercises with MATLAB
1. Analysis of dynamic systems, mechanic and electromechanic systems
2. State equations, solution of state equations, SIMULINK models
3. Derive of transfer functions and frequency responses
4. Miniproject: feed drive: block diagram, system analysis
5. Miniproject: design of speed- and position controllers
6. Miniproject: simulation of dynamic behaviour, interpolation in the plane
7. Control of systems with elastic coupling, state controller
8. Control of systems with elastic coupling, state controller with an observer
9. Design of a discrete PID controller
10.Design of a state controller with an observer
11.Design of a "dead beat" discrete controller
12. Structures of control systems, hardware, software
13. Course-unit credit