Modeling and Simulation I (FSI-RDO-A)

Academic year 2021/2022
Supervisor: doc. Ing. Robert Grepl, Ph.D.  
Supervising institute: ÚMTMB all courses guaranted by this institute
Teaching language: English
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:
The evaluation is based on the standard point system (0-100 points). Students can get up to 30 points for 3 tests during the semester. A minimum of 15 points is required to be classified. Further, the students can get up to 50 points for semestral projects and their presentation and up to 20 points for the final exam.
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                  
    Laboratory exercise  13 × 1 hrs. compulsory                  
    Computer-assisted exercise  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
    Laboratory exercise 7.-12. Experimental work - control of real system from PC
13. Presentation of semestral project, assignment.
    Computer-assisted exercise 1. Introduction to Matlab and Simulink
2.-3. Modelling of linear oscilator
4.-6. Work on semestral project, tutorial
Literature - fundamental:
1. Valášek M. a kol.: Mechatronika, Vydavatelství ČVUT Praha, 1995
2. web Mathworks, http://www.mathworks.com/
3. Karban, P.: Výpočty a simulace v programech MATLAB a Simulink, cpress 2006
4. Pelánek, R.: Modelování a simulace komplexních systémů, MUNI, 2011
Literature - recommended:
1. Valášek M. a kol.: Mechatronika, Vydavatelství ČVUT Praha, 1995
2. web Mathworks, http://www.mathworks.com/
3. Grepl, R.: Modelování mechatronických systémů v Matlab/SimMechanics, BEN - technická literatura, ISBN 978-80-7300-226-8
4. Karban, P.: Výpočty a simulace v programech MATLAB a Simulink, cpress 2006
The study programmes with the given course:
Programme Study form Branch Spec. Final classification   Course-unit credits     Obligation     Level     Year     Semester  
B-STI-Z visiting student --- no specialisation -- Cr,Ex 6 Elective 1 1 W
B-STI-Z visiting student --- no specialisation -- Cr,Ex 6 Recommended course 1 2 W