Modeling and Simulation I (FSI-RDO)

Academic year 2023/2024
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:

The evaluation is based on the standard point system (0-100 points). Students can get up to 40 points for 2 tests during the semester. A minimum of 20 points is required to be classified. Up to 60 points can be awarded 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. ÅSTRÖM, Karl Johan a Björn WITTENMARK. Computer-Controlled Systems: Theory and Design. 2nd ed. Englewood Cliffs, NJ: Prentice-Hall, 1990. ISBN 0-13-168600-3.
2. DUTTON, Ken, Steve THOMPSON a Bill BARRACLOUGH. The Art of Control Engineering. Harlow: Addison-Wesley, 1997. 813 s. ISBN 0-201-17545-2.
3. STEJSKAL, Vladimír a Michael VALÁŠEK. Kinematics and Dynamics of Machinery. New York: Marcel Dekker, Inc., 1996. 494 s. ISBN 0-8247-9731-0
4. PELÁNEK, Radek. Modelování a simulace komplexních systémů: Jak lépe porozumět světu. 1. vyd. Brno: Masarykova univerzita, 2011. 236 s. ISBN 978-80-210-5318-2
Literature - recommended:
1. VALÁŠEK, Michael a kol. Mechatronika. Praha: Vydavatelství ČVUT, 1995. ISBN 80-01-01276-X.
2. KARBAN, Pavel. Výpočty a simulace v programech Matlab a Simulink. 1. vyd. Brno: Computer Press, 2006, 220 s. ISBN 80-251-1301-9.
3. ISERMANN, Rolf. Mechatronic Systems: Fundamentals. London: Springer, 2005. 624 s. ISBN 1-85233-930-6.
3. NOSKIEVIČ, Petr. Modelování a identifikace systémů. 1. vyd. Ostrava: MONTANEX, 1999. 276 s. ISBN 80-7225-030-2.
4. Grepl, R.: Modelování mechatronických systémů v Matlab/SimMechanics, BEN - technická literatura, ISBN 978-80-7300-226-8
The study programmes with the given course:
Programme Study form Branch Spec. Final classification   Course-unit credits     Obligation     Level     Year     Semester  
B-MET-P full-time study --- no specialisation -- Cr,Ex 6 Compulsory 1 3 W