Control Techniques in Mechatronics

Data is displayed for the academic year: 2024./2025.

Lecturers

Assoc. Prof.
Šandor Ileš
PhD
Prof.
Jadranko Matuško
PhD

Exercises

Assoc. Prof.
Šandor Ileš
PhD

Laboratory exercises

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

Course Description

PID controller structures, Practical aspects of PID controller design; Filtering; Anti-windup Tuning of PID controller parameters; Linear algebraic methods (model matching, pole placement, Diophantine equation) Comparison of single loop and multi loop (cascade) control systems, Magnitude optimum (MO), Symetric optimum (SO) Fundamentals of microcontrollers and DSPs used for control of electrical drives Software implemetation of digital controllers, Hardware realization of digital controllers

Prerequisites

Automatic Control

Study Programmes

University graduate
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[FER3-HR] Computer Engineering - profile
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[FER3-HR] Computer Science - profile
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[FER3-HR] Control Systems and Robotics - profile
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[FER3-HR] Data Science - profile
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[FER3-HR] Electrical Power Engineering - profile
Elective Courses (1. semester) (3. semester)
[FER3-HR] Electric Machines, Drives and Automation - profile
(1. semester)
[FER3-HR] Electronic and Computer Engineering - profile
Elective Courses (1. semester) (3. semester)
[FER3-HR] Electronics - profile
Elective Courses (3. semester)
[FER3-HR] Information and Communication Engineering - profile
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[FER3-HR] Network Science - profile
Elective Courses (1. semester) (3. semester)
[FER3-HR] Software Engineering and Information Systems - profile
Elective Courses (1. semester) (3. semester)

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

Lectures will be 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 6 two-hours laboratory exercises

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. 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, Input and output filters
  12. DSP-based implementation of IM control, DSP-based implementation of PMSM control, DSP-based implementation of BLDC control
  13. Software implemetation 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
  15. Final exam

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

General

ID 223086
  Winter semester
5 ECTS
L1 English Level
L1 e-Learning
45 Lectures
0 Seminar
15 Exercises
24 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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