OVERVIEW

The course provides the basics for the study of the dynamics of mechanical systems with linear models and of the synthesis of control systems.

AIMS AND CONTENT

LEARNING OUTCOMES

The course aims to: provide the tools for the study of the dynamics of mechanical systems by means of linear models, with single input and single output, introducing the concepts of open-loop and closed-loop systems; teach the criteria for the evaluation of servo systems and their control; present the basics of analog, digital and mixed automation systems.

AIMS AND LEARNING OUTCOMES

The course aims to provide basics of the theory of linear systems, with particular reference to single-input single-output (SISO) systems. Both the analysis in time domain and in frequency domain (by means of the Laplace transform) are treated. The concepts of open loop systems and closed loop (control loop) are discussed, and case studies and examples, in particular on mechanical and mechatronic systems, are presents.

At the end of the course, the student will be able to:

• develop the dynamic model of an open loop mechanical/mechatronic system using the theory of linear systems
• select a suitable controller transfer function, fulfilling the requirements on accuracy, readiness and stability for the considered application
• select an off-the-shelf controller adequate to implement the selected control transfer function

TEACHING METHODS

Theoretical lessons integrated with examples and exercises. The students can extend the exercitations by means of MatLab.

SYLLABUS/CONTENT

General introduction and presentation of the feedback concept (open loop / closed loop)

Linear systems: differential equations, natural response, forced response in transient and steady state

Laplace transform

Complex numbers, ratios of polynomials with real coefficients and their decomposition

Transfer function, poles, zeroes and stability

Frequency response

Bode diagram and its asymptotic tracking

Transfer function in closed loop

Stability of closed loop systems

Phase margin and Gain margin

System errors and system types

Specifications for controlled systems

Types of regulators

Method of the root locus

Brief explanation of logical networks, PLC and axis control

RECOMMENDED READING/BIBLIOGRAPHY

The lessons are available on Aulaweb.

It’s highly recommended to attend the course.

For auxiliary integrations: Control Engineering – an introductory course –
J. Wilkie, M. Johnson, R. Katebi; Palgrave, 2002, ISBN 0-333-77129-X

TEACHERS AND EXAM BOARD

Exam Board

LUCA BRUZZONE (President)

PAOLO SILVESTRI

MATTEO VEROTTI

PIETRO FANGHELLA (President Substitute)

LESSONS

Class schedule

The timetable for this course is available here: Portale EasyAcademy

EXAMS

EXAM DESCRIPTION

Written exam

  - excercise about dynamics and control of mechanical systems

  - theoretical questions

  - examples of written exams are available on Aulaweb

ASSESSMENT METHODS

The written exam requires the analysis of a system characterized by a given transfer function; it is required the analysis of the open-loop system, and then, starting from the specifications on stability, readiness and accuracy, a control transfer function is selected, using the mathematical tools presented in the course. The open questions allow verifying the knowledge and operative capabilities, auxiliary to the linear system theory, which can be used to pass from the mathematical formulation to the engineering implementation of the control system.

Exam schedule