Control of Electromechanical Systems

Learning Outcomes

  1. Apply a multi loop (cascade) control on two-mass electromechanical system with an elastic shaft
  2. Analyze the behavior of two-mass electromechanical system with an elastic shaft
  3. Synthesize speed and position controllers for two-mass electromechanical system using practical optimums
  4. Apply friction effect compensation techniques
  5. Apply backlash effect compensation techniques

Forms of Teaching

Lectures

Lectures will be organized on weekly basis with weekly load of three hours

Exercises

Will be organized on weekly basis with weekly load of 1 hour

Laboratory

This component will be organized as 4 three-hours laboratory exams

Week by Week Schedule

  1. Comparison of single loop and multi loop (cascade) control systems, Magnitude optimum (MO), Symetric optimum (SO)
  2. Symetric optimum (SO), Digital implementation of symetric optimum
  3. Modeling of two-mass electromechanical system with elastic coupling, Parameter identification of electrical drives with elastic coupling using spectral analysis, Parameter identification of electrical drives with elastic coupling using parametric methods
  4. Double ratio optimum
  5. Modulus optimum
  6. Double ratio optimum, Speed control of electrical drives with elastic coupling using PI based controllers
  7. Control system performance improvement using feedforward controller
  8. Midterm exam
  9. Speed control of electrical drives with elastic coupling using two DoF controller (RST controller)
  10. Position control of electrical drives with elastic couplings
  11. Friction phenomena, Static friction models, Dynamic friction models
  12. Non-model Friction effect compensation in electrical drivers, Model-based Friction compensation in electrical drives
  13. Backlash effect in mechanical systems, Mathematical models of backlash, Analysis of the backlash effect using describing function
  14. Backlash Compensation in electrical drives using using integral action modification, Backlash Compensation in electrical drives using using torque secondary loop, Model based Backlash Compensation in Electrical Drives
  15. Final exam

Study Programmes

University graduate
Audio Technologies and Electroacoustics (profile)
Free Elective Courses (3. semester)
Communication and Space Technologies (profile)
Free Elective Courses (3. semester)
Computational Modelling in Engineering (profile)
Free Elective Courses (3. semester)
Computer Engineering (profile)
Free Elective Courses (3. semester)
Computer Science (profile)
Free Elective Courses (3. semester)
Control Systems and Robotics (profile)
Core-elective courses 1 (3. semester)
Data Science (profile)
Free Elective Courses (3. semester)
Electrical Power Engineering (profile)
Free Elective Courses (3. semester)
Electric Machines, Drives and Automation (profile)
(3. semester)
Electronic and Computer Engineering (profile)
Free Elective Courses (3. semester)
Electronics (profile)
Free Elective Courses (3. semester)
Information and Communication Engineering (profile)
Free Elective Courses (3. semester)
Network Science (profile)
Free Elective Courses (3. semester)
Software Engineering and Information Systems (profile)
Free Elective Courses (3. semester)

Literature

(.), Nedjeljko Perić, Joško Deur, Ivan Petrović, Danijel Pavković, Jadranko Matuško (2005.), Slijedni sustavi s izraženom elastičnošću, zračnošću i trenjem-Skripta, ZARI, FER Zagreb,
(.), Astrom, K. J., & Murray, R. M. (2005). Analysis and design of feedback systems. Preprint.,
(.), Krishnan, R. (2001). Electric motor drives: modeling, analysis and control. Prentice Hall.,

For students

General

ID 223717
  Winter semester
5 ECTS
L3 English Level
L1 e-Learning
45 Lectures
15 Exercises
13 Laboratory exercises

Grading System

Excellent
Very Good
Good
Acceptable