Course detail

Control of Mechatronic Systems

FSI-RRM Acad. year: 2020/2021 Summer semester

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

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

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.

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.

The study programmes with the given course

Programme N-MET-P: Mechatronics, Master's, elective

Type of course unit

 

Lecture

39 hours, optionally

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 hours, compulsory

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