| 41626 Motion Control |
| Danish title: Motion Control |
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Language: English ECTS-creditpoints: 10, External examination.
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Exam schedule:
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F2-A (maj 29 2002), E2-A (dec 12 2001) |
| Recommended semester: 7th - 9th semester (civil), 6th or 7th semester (diplom) |
| Evaluation: Written exam and approval of reports
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| Examination: 13-scale |
| Previous course: C8221,72137,72237 |
| Prerequisites: 72231 or 50300 |
| Aim: To the participants to understand and to apply modern control engineering theory, principles and method for state space modelling and design. This includes working on specifications, analysis, simulation, synthesis and implementation of multivariable dynamic systems, in particular control of machines and mechanical systems. To teach the participants to apply computer based tools for analysis and design of such systems (MATLAB, SIMULINK, Real Time Vissim) as well as implementation in the laboratory (Real Time Vissim, DSpace). |
| Contents: Formulation of the control problem and the design problem concerning design of systems for control of machines and mechanical systems. Modelling, analysis, simulation, design and experimental evaluation of such dynamic systems using the state-space method. State-space modelling of dynamics for components and mechanical systems such as transmissions, gears, drives, valves, actuators, and robots. Linear time-invariant systems. Nonlinear and time-varying systems. Linearization of nonlinear systems. Formulation and evaluation of specifications. Eigenvalues and eigenvectors. Stability analysis. Controllability and observability. State feedback control of MIMO systems. Regulator design. Servo system design. Observer design. Reduced order observer. Controller design for machines and mechanical systems. Pole-assignment method. Ackerman's formula. Discretization of continuous-time systems for computer control of mechanical systems. Regulator and servo system design of discrete-time systems with observers. Methods for modelling and control of nonlinear mechanical systems. Project work with laboratory impelmentation based upon modelling, controller design, simulation and experimental evaluation of mechanical systems. |
| Remarks: Lectures, group exercises and project assignment with laboratory implementation, Moreover, home exercises are offered. |
| Contact: Finn Conrad, building 358, (+45) 4525 6286, fc@mek.dtu.dk |
| Department: 041 Department of Mechanical Engineering |
| Keywords: State-space modeling, State-space control, Multivariable systems, Observer design, Pole placement |
| Updated: 07-05-2001 |
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