- Analyse the description of a electromechanical system with one or more degrees of freedom and apply a systematic approach to build a lumped parameter model of this system.
- Analyse closed-loop performance and stability of controlled single-input single-output mechanical systems with (parasitic) internal resonances from the closed-loop poles as well as using Bode and Nyquist diagrams.
- Analyse dynamic and static error requirements for a closed-loop system and translate these into low-frequent system requirements in terms of system type and crossover frequency.
- Analyse the (parasitic) internal resonances in the frequency domain and translate these into high-frequent system requirements for (robust) stability using the small-gain theorem.
- Design the control subsystem for a mechatronic system with a P(I)D-like feedback controller and feedforward control in order to meet stability requirements and performance specifications while taking the nominal and parasitic dynamics of the single degree-of-freedom mechanical subsystem into account.
This is a part of module 8, ME 8 Mechatronics of the Bachelor Mechanical Engineering. See here for the compete description of the module.|
A mechatronic system consists of a major mechanical subsystem, sensors, actuators and a controller to realise a controlled mechanical motion. Many contemporary mechanical systems have controls to enhance their functionality, in particular the smart devices and precision mechanisms realised by the Dutch high-tech industry. This course deals with the analysis of the dynamic behaviour of such controlled systems as well as methods to design the necessary controllers.
To this end, the systematic modelling approach of the course System Analysis is extended to build lumped parameter models of electromechanical systems with more than one degree of freedom. Desired dynamic closed-loop behaviour is realized by adding feedback and feedforward control, e.g. using P(I)D-like controllers. Two key ingredients in the analysis and design methods are:
In this course only single-input single-output (SISO) systems are considered. It offers an introduction for an integrated design approach of mechatronic systems and a basis for more advanced courses on systems and control.
- From an analysis of the low frequent approximations of the remaining error the crossover frequency appears to be the crucial system parameter for which requirements are formulated in order to meet performance criteria.
- From an analysis of the high frequent system behaviour it can be examined whether (parasitic) high order resonances can negatively affect the (robust) stability.
Entry requirements description:
At the start of this course, it is assumed that the student knows about:
This knowledge can be gained from the course System Analysis (202000128, B-ME module 5) or equivalent.
- Lumped parameter models of 1-DOF (electro)mechanical systems (free-body-diagram, ideal physical model with masses/inertias, springs, dampers, transmissions, electro-motors).
- Dynamic models (differential equations, state-space equations, transfer functions, block diagrams).
- Dynamic analysis (time and frequency domain, step and impulse response, bode plot).
Non-ME students can take this course if they meet the entry requirements.