Control of Mechatronic Systems (FSI-RRM)

Academic year 2021/2022
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 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.
Learning outcomes and competences:
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
Course contents:
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).
Teaching methods and criteria:
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:

Requirements for completion of a course are specified by a regulation issued by the lecturer responsible for the course and updated for every. 
Controlled participation in lessons:
Attendance at practical training is obligatory.
Type of course unit:
    Lecture  13 × 3 hrs. optionally                  
    Laboratory exercise  13 × 3 hrs. compulsory                  
Course curriculum:
    Lecture 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 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
Literature - fundamental:
1. Ogata, K.: Modern Control Engineering, Prentice Hall,1997
2. Philips, Ch. a j.: Digital Control System Analysis and Design, Prentice Hall, 1995
3. Zboray, L. a j.: Stavové riadenie el. pohonov, FEI KOšice, 1995
Literature - recommended:
1. Skalický, J.: Teorie řízení 1, skripta VUT FEKT, 2002
2. Vavřín, P.:: Teorie automatického řízení 1, skripta VUT FEI, 1991
3. Kotek, Z., a j.: Teorie automatického řízení spojitých lineárních systémů,ČVUT Praha, 1977
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 -- Cr,Ex 2 Elective 2 1 S