Oct 23, 2020   2:15 a.m. Alojza
Academic information system

Course syllabus I-RMS - Control of Mechatronic Systems (FEEIT - WS 2020/2021)


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University:
Slovak University of Technology in Bratislava
Faculty: Faculty of Electrical Engineering and Information Technology
Course unit code:
I-RMS
Course unit title:
Control of Mechatronic Systems
Mode of delivery, planned learning activities and teaching methods:
lecture
2 hours weekly (on-site method)
2 hours weekly (distance method)
seminar2 hours weekly (on-site method)
2 hours weekly (distance method)

 
Credits allocated:
6
 
Recommended semester/trimester:
Robotics and Cybernetics - master (compulsory), 1. semester
Robotics and Cybernetics - master (compulsory), 1. semester
Level of study:
2.
Prerequisites for registration:
none
 
Assesment methods:
Within the term students can harvest up to 50 points for the individual project. Maximal amount of points from the exam is 50.
 
Learning outcomes of the course unit:
The goal of the subject is to teach students the basics of the mechatronic system control. The accent is given on the motion control synthesis while the real limitations and parasitic characteristics of motion systems are taking into account.
 
Course contents:
1. Classification of mechatronic system components and their mathematical description
2. Control of position, velocity, acceleration, force and torque, impedance control - basic control structures and review of HW solutions in this area
3. Control of multiaxis systems, interpolation of motion in several axis.
4. Control of systems with variable parameters (e.g. moment of inertia) and under influence of time variable external disturbances (load torque)
5. VSS control - principle, synthesis for selected systems
6. Systems with real mechanics - flexible members, hystheresis, clearance, resonance effects. Mathematical description, identification of parameters.
7. Feedback control of low damped oscillatory systems (cranes, kinematic chains with flexible members, containers filled with liquid etc.) - additional damping feedback loops, state control, observers ...
8. Feed-forward control of low damped oscillatory systems - online and offline shaping of control signals, motion profile generators
9. Control of wheeled and tracked mobile chassis. Traction control systems - ABS, ASR, ESP etc.
10. Control of flying robots. Quadrocopter, stability control.
11. Control of underwater robots. Submersible motion control.
12. Specific problems of micro and nano mechatronic system control
 
Recommended or required reading:
 
Language of instruction:
slovak or english
 
Notes:
 
Courses evaluation:
Assessed students in total: 263

ABCD
E
FX
22,1 %27,4 %21,3 %16,3 %11,4 %1,5 %
Name of lecturer(s):
prof. Ing. Peter Hubinský, PhD. (examiner, instructor, lecturer, person responsible for course) - slovak, english
Ing. Ľuboš Chovanec, PhD. (examiner, instructor) - slovak, english
 
Last modification:
25. 3. 2020
Supervisor: prof. Ing. Peter Hubinský, PhD. and programme supervisor


Last modification made by RNDr. Marian Puškár on 03/25/2020.

Type of output: