Real Time Control and Simulation (FSI-RPO)

Academic year 2021/2022
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 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.
Learning outcomes and competences:
Students will gain knowledge about
• rapid control prototyping and HIL
• system identification
• state space control
• Kalman filter
• nonlinear control
• complex team project.
Prerequisites:
Knowledge of mathematics, kinematics, dynamics equal to previous studies and programming in Matlab/Simulink.
Course contents:
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.
Teaching methods and criteria:
Lectures, computer exercises, labs.
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 60 points for the semestral project and its presentation and up to 40 points for the final test.
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 × 2 hrs. compulsory                  
Course curriculum:
    Lecture 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 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.
Literature - fundamental:
1. Valášek, M.: Mechatronika, skriptum ČVUT, 1995
2. Grepl, R.: Modelování mechatronických systémů v Matlab/SimMechanics, BEN - technická literatura, ISBN 978-80-7300-226-8
4. BOLTON, W. Mechatronics: Electronic Control Systems in Mechanical Engineering. Pearson Education, 1999. 372 p. ISBN: 9780582357051.
5. NELLES, O. Nonlinear System Identification: From Classical Approaches to Neural Networks and Fuzzy Models. Springer, 2000-12-12. 814 p. ISBN: 9783540673699.
Literature - recommended:
1. Valášek, M.: Mechatronika, skriptum ČVUT, 1995
2. NELLES, O. Nonlinear System Identification: From Classical Approaches to Neural Networks and Fuzzy Models. Springer, 2000-12-12. 814 p. ISBN: 9783540673699.
The study programmes with the given course:
Programme Study form Branch Spec. Final classification   Course-unit credits     Obligation     Level     Year     Semester  
N-MET-P full-time study --- no specialisation -- GCr 5 Compulsory 2 1 S