Laboratory of Control Engineering and Automation 1

Course Description

The course is organized in three laboratory blocks. In the first block students get practical experience in the design of linear control systems to meet performance specifications. This involves the analysis of simplified mathematical models for the dynamic system to be controlled, followed by the synthesis of the controllers based on these models including constraints. In the second block students apply control algorithms to control electrical drives. This laboratory block covers design of the DC drive control systems as well as scalar and vector control systems for induction and synchronous motors. Moreover, motion control of electrical drives with elastic transmission will be exercised. And in the third block students use tools for modeling, simulation and control of industrial robots. They also learn about off-line and on-line programming methods of simple robot cells as well as practical knowledge about robot vision and robot vision-based manipulation tasks.

General Competencies

This course gives students sufficient practical knowledge to design linear control systems based upon known mathematical models of various processes. Special attention is paid to control of electrical drives, robot manipulators and other electromechanical systems. The students get the capability to design advanced control systems for DC and AC drives as well as to analyze and solve various robot cell manipulation tasks.

Learning Outcomes

  1. identify kinematic and dynamical models of robotic systems
  2. apply tools for modeling, simulation and control of industrial robots.
  3. distinguish and apply basic robot control concepts
  4. design state-space controller for linear systems
  5. apply root-locus approach in analysis and synthesis of linear control systems
  6. apply vector control on induction machine and BLDC machine

Forms of Teaching

Lectures

Represent the bridge between theoretical foundations and practical applications.

Laboratory Work

9 laboratory exercises, organized in thematic cycles and connected to theoretical subjects/courses.

Grading Method

Continuous Assessment Exam
Type Threshold Percent of Grade Threshold Percent of Grade
Laboratory Exercises 0 % 50 % 0 % 50 %
Quizzes 0 % 50 % 0 % 50 %
Comment:

9 laboratory exercises are individually evaluated. Each exercise carries 11,11% of the total number of points. All laboratory exercises are mandatory.

Week by Week Schedule

  1. Introduction lecture. Additional lectures in Control of Electrical Drives, Linear Control Systems Design, and Fundamentals of Robotics, that connect theoretical foundations with practical applications.
  2. Additional lectures in Control of Electrical Drives, Linear Control Systems Design, and Fundamentals of Robotics, that connect theoretical foundations with practical applications.
  3. Additional lectures in Control of Electrical Drives, Linear Control Systems Design, and Fundamentals of Robotics, that connect theoretical foundations with practical applications.
  4. Linear Control Systems Design, 1. exercise: controllability, observability, and state-space control design.
  5. Fundamentals of Robotics, 1. exercise: direct and inverse kinematics.
  6. Control of Electrical Drives, 1. exercise. Application of an industrial frequency converter for induction machine control.
  7. Control of Electrical Drives, 2. exercise. Application of an industrial frequency converter for control of permanent magnet synchronous machine.
  8. -
  9. Additional lectures in Control of Electrical Drives, Linear Control Systems Design, and Fundamentals of Robotics, that connect theoretical foundations with practical applications.
  10. Fundamentals of Robotics, 2. exercise: trajectory planning.
  11. Linear Control Systems Design, 2. exercise: root locus; pole placement.
  12. Fundamentals of Robotics, 3. exercise: control.
  13. Control of Electrical Drives, 3. exercise. Application of double ratio optimum in control of electromechanical system with elastic coupling.
  14. Linear Control Systems Design, 3. exercise: linear quadratic regulator.
  15. -

Study Programmes

University graduate
Control Engineering and Automation (profile)
(1. semester)

Literature

(2005.), MATLAB Manuals, MathWorks
Lecturers (2007.), Linear Control System Design - Instructions for laboratory work, FER
Lecturers (2007.), Control of ELectrical Drives - Instructions for laboratory work, FER
Lecturers (2007.), Fundamental of Robotics - Instructions for laboratory work, FER

Laboratory exercises

General

ID 35226
  Winter semester
5 ECTS
L1 English Level
L1 e-Learning
30 Lectures
0 Exercises
60 Laboratory exercises
0 Project laboratory

Grading System

87,5 Excellent
75 Very Good
62,5 Good
50 Acceptable