Control of Electromechanical Systems

Data is displayed for academic year: 2023./2024.

Lecturers

Assoc. Prof.
Šandor Ileš
Assoc. Prof.
Vinko Lešić
Prof.
Jadranko Matuško

Exercises

Bruno Vilić Belina
mag. ing.
Assoc. Prof.
Šandor Ileš

Laboratory exercises

Bruno Vilić Belina
mag. ing.
Josip Kir Hromatko
univ. mag. ing. el. techn. inf.

Course Description

Control of electrical drives with a complex mechanical load - drives with torsion, friction, backlash, and variable moment of inertia. Torsion, friction, and backlash modeling. Motion controller synthesis based on double ratio optimum and modulus optimum. Control system performance improvement using feedforward controller. Friction and backlash compensation in electrical drives. Application of the acquired knowledge in the area of electrical drives, vehicle dynamics, and complex mechatronic systems in general. The course encompasses laboratory exercises on real complex electromechanical systems and adopting the knowledge through practical, experimental work.

Study Programmes

University graduate
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[FER3-HR] Electric Machines, Drives and Automation - profile
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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

Grading Method

Continuous Assessment Exam
Type Threshold Percent of Grade Threshold Percent of Grade
Laboratory Exercises 40 % 20 % 40 % 20 %
Mid Term Exam: Written 40 % 30 % 0 %
Final Exam: Written 40 % 30 %
Final Exam: Oral 20 %
Exam: Written 40 % 40 %
Exam: Oral 40 %

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

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
L1 English Level
L1 e-Learning
45 Lectures
0 Seminar
15 Exercises
13 Laboratory exercises
0 Project laboratory
0 Physical education excercises

Grading System

87.5 Excellent
75 Very Good
62.5 Good
50 Sufficient

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