CODE 121487 ACADEMIC YEAR 2026/2027 CREDITS 4 cfu anno 2 ROBOTICS ENGINEERING 11963 (LM-32) - GENOVA SCIENTIFIC DISCIPLINARY SECTOR IIND-08/A LANGUAGE English TEACHING LOCATION GENOVA SEMESTER 1° Semester OVERVIEW Electrical drive systems are essential in modern robotics, providing precise motion control, high efficiency, and reliable performance. They combine power electronics, electrical machines, control strategies, sensing technologies, and energy storage systems. The module introduces DC-DC and DC-AC converters, modulation techniques, and the operating principles of DC motors, AC synchronous motors, and stepper motors. Particular attention is given to Field-Oriented Control (FOC), which enables accurate and efficient torque and speed regulation in AC machines. Students will also study current, voltage, and position sensors, including encoders and resolvers, which provide the feedback required for safe and precise motion control. Battery technologies, battery management systems, and state-of-charge estimation methods are also covered. The module provides the knowledge required to design and implement efficient electrical drive systems for industrial, mobile, and autonomous robotic applications. AIMS AND CONTENT LEARNING OUTCOMES By the end of the course, students will be able of selecting appropriate motors and power electronic topology and applying advanced control methods to achieve high-precision motion and energy-efficient performance. Moreover, they will be prepared to tackle real-world challenges in robotics by leveraging integrated sensing, actuation and energy storage solutions. AIMS AND LEARNING OUTCOMES The course provides fundamental knowledge for the design and control of electrical drive systems used in modern robotics. It covers the essential components, including power electronics, electrical machines, control strategies, and sensing technologies. Starting from the basic principles of power conversion and motor operation, the course delves into advanced modulation techniques and control algorithms required for precise motion control in robotic applications. Students will learn how to model and analyze power electronic circuits, understand the operating principles of various electrical machines, and implement control strategies such as Field-Oriented Control (FOC) for dynamic and efficient motion control. They will also gain practical knowledge of current, voltage, and position sensors used for feedback and monitoring within drive systems. The course further explores energy storage solutions, including different battery chemistries, Battery Management Systems (BMS) and State of Charge (SoC) estimation techniques, which are essential for mobile and autonomous robotic systems. Students will understand how to integrate these energy storage systems with power electronics and drive systems to achieve optimal energy efficiency and system reliability. By the end of the course, students will be able of selecting appropriate motors and power electronic topology and applying advanced control methods to achieve high-precision motion and energy-efficient performance. Moreover, they will be prepared to tackle real-world challenges in robotics by leveraging integrated sensing, actuation and energy storage solutions. PREREQUISITES Basics of electrical circuits and control systems. TEACHING METHODS Lectures and laboratory experience. The laboratory will be related to the implementation of a motor control scheme using simulative tool such as MATLAB/Simulink. SYLLABUS/CONTENT Introduction to power electronics Transistors as switch Pulse Width Modulation DC-DC converters (buck converter, boost converter, H-Bridge, isolated converter) DC-AC converter (full bridge converter) Power electronics efficiency Introduction to electrical machines Review of electromagnetic main concepts Permanent magnet DC machines Permanent magnet AC machines Stepper motors Drive systems Coupling power electronics and electrical machines: the drive system Control of DC motors Field Oriented Control (FOC) of AC motor Elementary concept of sensorless control Sensors Hall effect voltage and current sensors Shunt sensing Optical encoder Resolver Energy storage Main battery chemistry Charging and discharging curve State of Charge concept and estimation Battery Management System TEACHERS AND EXAM BOARD ANDREA FORMENTINI Ricevimento: By appointment arranged through email. Contact details: Andrea Formentini, DITEN, Via Opera Pia 11a, e-mail: andrea.formentini@unige.it Exam Board ANDREA FORMENTINI (President) LESSONS LESSONS START https://easyacademy.unige.it/portalestudenti/index.php?view=easycourse&_lang=it&include=corso Class schedule The timetable for this course is available here: Portale EasyAcademy EXAMS EXAM DESCRIPTION Development of a project assigned at the end of the course. Discussion of the project and of the content covered during the lessons. ASSESSMENT METHODS At the end of the course, the student must be able to design in MATLAB/Simulink and simple drive system for a specific robotic application. The final oral examination will focus on the project report and on the topics covered during lectures. FURTHER INFORMATION Students with valid certifications for Specific Learning Disorders (SLD) may request accommodations for exams at least 7 days prior to the exam date by filling out the “accommodation request form” (available via online services at https://modulionline.unige.it/richiesta-adattamenti# no-back), which will be automatically forwarded by the system to the instructor in charge of the course and to the faculty liaison for students with disabilities and SLDs in their School/Department. The student will receive a copy of their request.
