Modeling and Simulation (FSI-RDO)

Academic year 2018/2019
Supervisor: doc. Ing. Robert Grepl, Ph.D.  
Supervising institute: ÚMTMB all courses guaranted by this institute
Teaching language: Czech
Aims of the course unit:
Students will learn about modelling of dynamic systems (mechanical, electromechanical, control) on computer.
Learning outcomes and competences:
Students gain knowledge about
• linear systems and its analysis
• modelling in MATLAB/Simulink
• modelling of control systems
• practical experience with control of real system using I/O card from Simulink.
Prerequisites:
Vectors and matrixes. ODEs. Mathematics and physics in the scope of previous study. Basic knowledge of programming in MATLAB.
Course contents:
This module deals with modelling of dynamic system on computer. Systems are described by ordinary differential equations, differential-algebraic equations or e.g. by state automata. MATLAB and Simulink are used as main tools including their advanced functions and features. Theoretical findings are demonstrated on real educational models controlled from Simulink using I/O card MF624.
Teaching methods and criteria:
Lectures, exercises, labs, individual students work.
Assesment methods and criteria linked to learning outcomes:
Module is graded according to:
• active participation on exercises/labs
• projects
• tests.
Controlled participation in lessons:
Attendance at practical training is obligatory. Evaluation are made on exercises based on evaluation criteria.
Type of course unit:
    Lecture  13 × 2 hrs. optionally                  
    Computer-assisted exercise  13 × 1 hrs. compulsory                  
    Labs and studios  13 × 1 hrs. compulsory                  
Course curriculum:
    Lecture 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 1. Introduction to Matlab and Simulink
2.-3. Modelling of linear oscilator
4.-6. Work on semestral project, tutorial
    Labs and studios 7.-12. Experimental work - control of real system from PC
13. Presentation of semestral project, assignment.
Literature - recommended:
1. Valášek M. a kol.: Mechatronika, Vydavatelství ČVUT Praha, 1995
The study programmes with the given course:
Programme Study form Branch Spec. Final classification   Course-unit credits     Obligation     Level     Year     Semester  
M2I-P full-time study M-KSI Mechanical Engineering Design -- GCr 3 Elective (voluntary) 2 2 S
B3A-P full-time study B-MET Mechatronics -- Cr,Ex 5 Compulsory 1 2 S