Course detail

Real Time Control and Simulation

FSI-RPOAcad. year: 2024/2025

Students will learn about advanced techniques of real-time simulations, identification, advanced control systems and state/parameter estimation. Theoretical findings will be applied on team project dealing with complex control design for real educational model.

Language of instruction

Czech

Number of ECTS credits

5

Mode of study

Not applicable.

Guarantor

doc. Ing. Robert Grepl, Ph.D.

Department

Institute of Solid Mechanics, Mechatronics and Biomechanics (ÚMTMB)

Entry knowledge

Knowledge of mathematics, kinematics, dynamics equal to previous studies and programming in Matlab/Simulink.

Rules for evaluation and completion of the course

The evaluation is based on the standard point system (0-100 points). Students can get up to 60 points for the semestral project and its presentation and up to 40 points for the final test.
Attendance at practical training is obligatory. Evaluation are made on exercises based on evaluation criteria.

Aims

Students will learn about advanced techniques of real-time simulations and related SW and HW. Theoretical findings will be demonstrated on process of identification and design of advanced control system for real laboratory model.
Students will gain knowledge about
• rapid control prototyping and HIL
• system identification
• state space control
• Kalman filter
• nonlinear control
• complex team project.

Study aids

Not applicable.

Prerequisites and corequisites

Not applicable.

Basic literature

BOLTON, W. Mechatronics: Electronic Control Systems in Mechanical Engineering. Pearson Education, 1999. 372 p. ISBN: 9780582357051.
Grepl, R.: Modelování mechatronických systémů v Matlab/SimMechanics, BEN - technická literatura, ISBN 978-80-7300-226-8
NELLES, O. Nonlinear System Identification: From Classical Approaches to Neural Networks and Fuzzy Models. Springer, 2000-12-12. 814 p. ISBN: 9783540673699.
Valášek, M.: Mechatronika, skriptum ČVUT, 1995

Recommended reading

NELLES, O. Nonlinear System Identification: From Classical Approaches to Neural Networks and Fuzzy Models. Springer, 2000-12-12. 814 p. ISBN: 9783540673699.
Valášek, M.: Mechatronika, skriptum ČVUT, 1995

Classification of course in study plans

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

  • Programme C-AKR-P Lifelong learning

    specialization CLS , 1 year of study, summer semester, elective

Type of course unit

 

Lecture

26 hod., optionally

Teacher / Lecturer

doc. Ing. Robert Grepl, Ph.D.

Syllabus

Dynamic behaviour and properties of drive systems.
Structure of drive systems.
Interactive drive systems.
Basic drive systems: machines, gearbox - industry machines.
Basic drive systems: machines, gearbox - industry machines.
Operating states of drive systems and their stability.
Operating states of drive systems and their stability.
Computational modelling of drive systems.
Computational modelling of drive systems.
Stability of drive systems and defects.
Experimental monitoring of drive systems dynamics properties.
Linear, nonlinear and quadratic programming.

Laboratory exercise

26 hod., compulsory

Teacher / Lecturer

doc. Ing. Robert Grepl, Ph.D.

Syllabus

Dynamics of rotating bodies.
Examples of drive systems structual analyses.
Basic features of torsion systems - examples.
Machines characteristics - examples.
Dynamics of gearbox systems - examples.
Dynamic properties modelling of industry machines.
Examples of drive systems control.
Computational modelling of movement systems.
Computational modelling of movement systems.
Stability of drive systems - examples.
Graded course-unit credit.