Introduction to Automatic Control (FSI-RRE)

Academic year 2018/2019
Supervisor: doc. Ing. Pavel Vorel, Ph.D.  
Supervising institute: ÚMTMB all courses guaranted by this institute
Teaching language: Czech
Aims of the course unit:
The aim of the course is to teach students to understand the relation between a real dynamic system, its mathematical model and the goal of a feedback control of this system.
Learning outcomes and competences:
Students will be able to solve the performance of dynamic systems in the time and in the frequency area They will learn how to design feedback controllers and how to apply it the acquired knowledge for with respect to position servodrives of NC machines and robots.
Prerequisites:
Calculations with complex numbers, linear differential equations, Laplace transform, matrix calculus
Course contents:
Control theory of linear systems, mathematical models of dynamic systems, state space equations, transfer functions, feedback systems, stability of feedback systems,basic types of controllers P, I, PI, PD, PID, design algorithms of controllers, state feedback control, state feedback control with an observer, discrete linear systems, Z-transform, design of digital controllers, discrete state control
Teaching methods and criteria:
The course is taught through lectures explaining the basic principles and theory of the discipline. Exercises are focused on practical topics presented in lectures.
Assesment methods and criteria linked to learning outcomes:
The course-unit credit awarded on condition of having worked out given problems. Individual solution is expected applying program MATLAB/SIMULINK. Eexamination takes form of a written test
Controlled participation in lessons:
Attendance at practical training is obligatory.
Type of course unit:
    Lecture  13 × 2 hrs. optionally                  
    Exercise  13 × 2 hrs. compulsory                  
Course curriculum:
    Lecture 1.Introduction, dynamic systems, mathematical models
2. State space equations of dynamic systems
3. Transfer functions, frequency response, time response
4. Block diagrams of control systems
5. Feedback systems, stability
6. Design of controllers, types of controllers
7. State feedback control
8. State feedback control with an observer
9. Digital control systems
10. Discrete control theory, Z-transform
11. Design methods of digital controllers
12. Discrete state control
13. Dead-beat control
    Exercise Laboratory exercises with MATLAB
1. Introduction to MATLAB and SIMULINK
2. Analysis of dynamic systems, mechanic and electromechanical systems
3. State equations, solution of state equations, SIMULINK models
4. Derive of transfer functions and frequency responses
5. Types of transfer functions, time response
6. Miniproject: feed drive: block diagram, system analysis
7. Miniproject: design of speed- and position controllers
8. Miniproject: simulation of dynamic behaviour, interpolation in the plane
9. Control of systems with elastic coupling, state controller
10. Design of a discrete PID controller
11. Design of a state controller with an observer
12. Design of a state controller "dead-beat"
13. Structures of control systems, hardware, software
Literature - fundamental:
3. Ogata, K.: System Dynamics Prentice Hall 1992
4. Ogata, K.:Modern Control Engineering Prentice Hall, 1997
Literature - recommended:
1. Skalický, Jiří: Teorie řízení 1 skripta VUT v Brně, FEKT, 2002
2. Vavřín, P.: Teorie automatického řízení skripta VUT v Brně, 1991
The study programmes with the given course:
Programme Study form Branch Spec. Final classification   Course-unit credits     Obligation     Level     Year     Semester  
B3A-P full-time study B-MET Mechatronics -- Cr,Ex 5 Compulsory 1 2 S