|SCIENTIFIC DISCIPLINARY SECTOR||ING-IND/13|
The course provides the basics for the study of the dynamics of mechanical systems with linear models and of the synthesis of control systems.
The aim of the course is to provide the tools to study the dynamics of mechanical systems with linear models, single-input/single-output, introducing the concepts of open-loop and closed-loop, and the criteria to assess the behaviour of servomechanisms. The fundamentals of digital automation systems are presented.
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:
Theoretical lessons integrated with examples and exercises. The students can extend the exercitations by means of MatLab.
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
Complex numbers, ratios of polynomials with real coefficients and their decomposition
Transfer function, poles, zeroes and stability
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
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
LUCA BRUZZONE (President)
PIETRO FANGHELLA (President Substitute)
Written and oral exam.
Written exam: exercise about dynamics and control of mechanical systems; examples of written exams are available on Aulaweb
Oral exam with theoretical questions.
The written exam requires the analysis of a system characterized by a given transfer function; the analysis of the open-loop system is required, 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 oral exam allows 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.