Control Techniques in Mechatronics

Learning Outcomes

  1. Apply a multi loop (cascade) control on mechatronical system
  2. Synthesise controllers using practical optimums (techincal optimum, symmetrical optimum, double-ratio optimum)
  3. Develop a contoller suitable for implementation in a digital signal processor
  4. Design and implementation of a controller on a hardware (FPGA)
  5. Choose parameters of PID controller

Forms of Teaching

Lectures

Tee lectures will organized on weekly basis with weekly load of 3 hours

Exercises

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

Laboratory

This component will be organized as 8 three-hours laboratory exercises

Week by Week Schedule

  1. PID controller structures, Practical aspects of PID controller design; Filtering; Anti-windup
  2. Tuning of PID controller parameters; Ziegler-Nichols methods, PID controller parametrization using pole assignment
  3. Linear algebraic methods (model matching, pole placement, Diophantine equation)
  4. Loop shaping; Lead and lag compensator
  5. Modeling of digital control system elements, Sampling, Antialiasing
  6. Comparison of single loop and multi loop (cascade) control systems, Magnitude optimum (MO), Symetric optimum (SO)
  7. Digital implementation of symetric optimum
  8. Midterm exam
  9. Fundamentals of microcontrollers and DSPs used for control of electrical drives
  10. Signal processing required for digital control of electrical drives, Per unit system; Numerical formats, Signal conditioning for control of electrical drives
  11. Classification of digital control systems, Structure of digital control systems, DSP based control of AC/DC and DC/DC converters, Inline and output filters
  12. DSP-based implementation of IM control, DSP-based implementation of PMSM control, DSP-based implementation of BLDC control
  13. Software implemetations of digital controllers, Effect of A/D conversion, Effect of controller arithmetic: fixed point vs floating point, Effect of controller realization forms, Controller implementation in delta-domain
  14. Hardware realization of digital controllers, Controller implementation in FPGA
  15. Final exam

Study Programmes

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

Literature

Sergey Edward Lyshevski (2017.), Mechatronics and Control of Electromechanical Systems, CRC Press
Karl Johan Åström, Richard M. Murray (2008.), Feedback Systems: An Introduction for Scientists and Engineers, Princeton University Press

For students

General

ID 223086
  Winter semester
5 ECTS
L3 English Level
L1 e-Learning
45 Lectures
15 Exercises
24 Laboratory exercises

Grading System

Excellent
Very Good
Good
Acceptable