Mechatronics (NAMO05E) Academic year 2011/2012

In this graduate course, the students will learn various advanced topics in mathematical modeling of electro-mechanical systems, control systems and the integration of mechatronic systems. The following materials will be given in the course:

Introduction to Mechatronic systems Advanced mathematical modeling of mechanical systems Simulation of dynamical systems Electrical, thermal and fluid systems Advanced control systems Digital control systems

Book: Bohdan T. Kulakowski, John F. Gardner, J. Lowen Shearer, Dynamic Modeling and Control of Engineering Systems, Cambridge University Press, ISBN: 978-0-521-86435-0. Other suggested references (available online and free):

K.J. Astrom and R.M. Murray, Feedback Systems: An Introduction for Scientists and Engineer E.D. Sontag, Mathematical Control Theory Encyclopedia of Mathematics (Springer Verlag) Open Access Lecture Notes and Monographs (Mathematics Online) Video Lectures Network

Detailed schedule
Week 1 (46) Tuesday, 15 November 2011 11.00-12.45 (Room: 5111.0022) 1st hour Theme What is mechatronics

Introduction to Mechatronics course, detail of the docent and the course outline (books, weblinks and journals). Lab exercises. History of mechatronics and basic building blocks of mechatronics systems. Mechatronics design cycle (the Isermanns V-curve development diagram). Design Parameters and Functional Requirements in mechatronics design (see

2nd hour Theme Mechatronics design cycle

Scheidl & Winkler, 2010 and Hehenberger, et.al., 2010). Example from the chopper design in METIS. - Defining systems requirements - Conceptual design and components that meet the requirements - Identifying risks and way to mitigate the risks - Modeling the components References: 1. R. Scheidl, B. Winkler, Model relations between conceptual and detail design, Mechatronics, vol. 20, pp. 842-849, 2010. 2. P. Hehenberger, F. Poltschak, K. Zeman, W. Amrhein, Hierarchical design models in the mechatronic product development process of synchronous machines, Mechatronics, vol. 20, pp. 864-875, 2010. Tutorial Wednesday, 16 November 2011, 11.00-12.45 (Room 5118.0156) TBK3 DT 3+4 Wednesday, 16 November 2011, 13.00-14.45 (Room 5161.0222) TBK3 DT 1+2 Wednesday, 16 November 2011, 15.00-16.45 (Room 5116.0116) TBK DT, M1 2 Thursday, 17 November 2011, 11.00-12.45 (Room 5116.0107) BME, TBK DT, M1 1 Discussion on the first set of exercise sheet on the basic modeling for defining design parameters and basic control design (Routh Hurwitz criteria and PID design). Friday, 18 November 2011 09.00-11.45 (Room: 5111.0022) 1st hour Theme Engineering principle in the design of mechatronics systems 2nd hour Engineering principle in the design of mechatronics systems Week 2 (47) Tuesday, 22 November 2011 11.00-12.45 (Room: 5111.0022) 1st hour State space model

The importance of state-space in the dynamical modeling of complex systems (control, identification and analysis). Description on the state-space modeling and various properties related to the statespace model. Relation with the notion of transfer

function. 2 hour Theme Basic modeling in complex systems

nd

Overview of modeling of complex systems. A-type, T-type and D-type variables in the ideal systems element. The relevance of these variables to the modeling of complex systems and to the design parameters.

Tutorial Wednesday, 23 November 2011, 11.00-12.45 (Room 5118.0156) TBK3 DT 3+4 Wednesday, 23 November 2011, 13.00-14.45 (Room 5161.0222) TBK3 DT 1+2 Wednesday, 23 November 2011, 15.00-16.45 (Room 5116.0116) TBK DT, M1 2 Thursday, 24 November 2011, 11.00-12.45 (Room 5116.0107) BME, TBK DT, M1 1 Discussion on the second set of exercise sheet on the state-space modeling, stability analysis based on the matrices and the computation of the canonical form from the transfer functions. Friday, 25 November 2011 09.00-11.45 (Room: 5111.0022) 1st hour Theme Basic laws in the modeling of an interconnected mechanical and electrical. 2nd hour Theme Basic laws in the modeling of an interconnected mechanical, electrical and fluid systems.

Describe the state space modeling of complex systems consisting of mechanical and electrical systems. Classroom exercise on the state space modeling of electro-mechanical systems. Describe the state-space modeling of complex systems consisting of mechanical, electrical and fluid systems. Classroom exercise on the state space modeling of complex systems.

Week 3 (48) Tuesday, 29 November 2011 11.00-12.45 (Room: G 5431.0053 Donald Smitszaal) 1st hour Theme Dynamical equations for a complex Modeling of a complex mechanical mechanical system via Newtons law. system. 2nd hour (contd) Classroom exercise on the dynamical equations for complex mechanical systems and its respective state-space form. Overview on fully-actuated and underactuated mechanical systems.

Tutorial Wednesday, 30 November 2011, 11.00-12.45 (Room 5118.0156) TBK3 DT 3+4 Wednesday, 30 November 2011, 13.00-14.45 (Room 5161.0222) TBK3 DT 1+2 Wednesday, 30 November 2011, 15.00-16.45 (Room 5116.0116) TBK DT, M1 2 Thursday, 1 December 2011, 11.00-12.45 (Room 5116.0107) BME, TBK DT, M1 1 Discussion on the third set of exercise sheet on state-space modeling of complex systems containing mechanical, electrical and fluid systems. Friday, 2 December 2011 09.00-11.45 (Room: 5111.0022) 1st hour Theme Dynamical analysis of complex systems

Dynamical analysis of complex systems in relation to the mechatronics design. The use of mathematical analysis on the state-space equations for obtaining the dynamical properties of the systems. Recall on the solution of Ordinary Differential Equations (ODEs) for the state-space equations. The applicability of simulations for validating the mechatronics design. Describe nonlinear behavior in dynamical systems and their dynamical analysis counterpart on the state-space equations.

2nd hour Theme Nonlinearity

Week 4 (49) Tuesday, 6 December 2011 11.00-12.45 (Room: G 5431.0053 Donald Smitszaal) 1st hour Theme Discuss an alternative to the modeling of Euler-Lagrange kinetics and potential complex mechanical systems through the computations Euler-Lagrange formalism. Derivation of Euler-Lagrange equation and the determination of the kinetics and potential energy in arbitrary systems. nd 2 hour Theme Examples of computing the dynamical Euler-Lagrange equations equations using Euler Lagrange formalism on various systems. Tutorial Wednesday, 7 December 2011, 11.00-12.45 (Room 5118.0156) TBK3 DT 3+4 Wednesday, 7 December 2011, 13.00-14.45 (Room 5161.0222) TBK3 DT 1+2 Wednesday, 7 December 2011, 15.00-16.45 (Room 5116.0116) TBK DT, M1 2 Thursday, 8 December 2011, 11.00-12.45 (Room 5116.0107) BME, TBK DT, M1 1 Discussion on the fourth set of exercise sheet on the Euler-Lagrange formalism and analysis of nonlinear state equations through linearization.

Friday, 9 December 2011 09.00-11.45 (room: to be decided) Mid Term exam. Week 5 (50) Tuesday, 13 December 2011 11.00-12.45 (Room: G 5431.0053 Donald Smitszaal) 1st hour Theme Overview on the discretization process in Digital control theory the mechatronics systems. Discretization of controller transfer function via bilinear transformation. Implementation of the discretized transfer function. Examples. nd 2 hour Digital control theory Influence of the frequency warping. Transformation with frequency warping. Tutorial Wednesday, 14 December 2011, 11.00-12.45 (Room 5118.0156) TBK3 DT 3+4 Wednesday, 14 December 2011, 13.00-14.45 (Room 5161.0222) TBK3 DT 1+2 Wednesday, 14 December 2011, 15.00-16.45 (Room 5116.0116) TBK DT, M1 2 Thursday, 15 December 2011, 11.00-12.45 (Room 5116.0107) BME, TBK DT, M1 1 Discussion on the fifth set of exercise sheet on the digital control. Friday, 16 December 2011 09.00-11.45 (Room: 5111.0022) 1st hour Theme Discrete-time state-space model

Discrete-time state-space model and various dynamical properties of discretetime model (analogous to the continuoustime state-space model). Relation of the discrete-time state-space model to the problem of optimization, economics, operations. Approximation of the continuous-time model by the discrete-time one. Discrete-time state-space model in the mechatronics systems.

2nd hour Theme Discrete-time state space model

Week 6 (51) Tuesday, 20 December 2011 11.00-12.45 (Room: G 5431.0053 Donald Smitszaal) 1st hour Theme Classroom demonstration of the resulting State feedback methods lab exercise (2 groups).

Advanced control methods using state feedback. Optimal feedback control theory. 2nd hour LQR method Classroom demonstration of the resulting lab exercise (2 groups). Design of optimal feedback control using the model of the complex systems derived before. Examples.

Tutorial Wednesday, 21 December 2011, 11.00-12.45 (Room 5118.0156) TBK3 DT 3+4 Wednesday, 21 December 2011, 13.00-14.45 (Room 5161.0222) TBK3 DT 1+2 Wednesday, 21 December 2011, 15.00-16.45 (Room 5116.0116) TBK DT, M1 2 Thursday, 22 December 2011, 11.00-12.45 (Room 5116.0107) BME, TBK DT, M1 1 Discussion on the sixth set of exercise sheet on the state feedback control and on the discrete-time model. Friday, 23 December 2011 09.00-11.45 (Room: 5111.0022) 1st hour Theme State observer design 2nd hour Theme State observer design

Classroom demonstration of the resulting lab exercise (2 groups). Introduction to state-observer design. State observer theory. Classroom demonstration of the resulting lab exercise (2 groups). Examples on the state observer. Separation principle on the state feedback and state observer.

Week 7 (2) Tuesday, 9 January 2012 11.00-12.45 (Room: G 5431.0053 Donald Smitszaal) 1st hour Theme Classroom demonstration of the resulting Application of state feedback and lab exercise (2 groups). observer in mechatronics design. Examples on the application of state feedback and observer in mechatronics. 2nd hour Application of state feedback and Classroom demonstration of the resulting observer in mechatronics design. lab exercise (2 groups). Examples on the application of state feedback and observer in mechatronics. Tutorial Wednesday, 10 January 2012, 11.00-12.45 (Room 5118.0156) TBK3 DT 3+4 Wednesday, 10 January 2012, 13.00-14.45 (Room 5161.0222) TBK3 DT 1+2

Wednesday, 10 January 2012, 15.00-16.45 (Room 5116.0116) TBK DT, M1 2 Thursday, 11 January 2012, 11.00-12.45 (Room 5116.0107) BME, TBK DT, M1 1 Discussion on the seventh set of exercise sheet on the state feedback and observer design for complex systems. Friday, 12 January 2012 09.00-11.45 (Room: 5111.0022) 1st hour Theme Systems identification

Classroom demonstration of the resulting lab exercise (2 groups). Introduction to systems identification. Systems identification via time-series data. Least-square methods. Examples. Classroom demonstration of the resulting lab exercise (2 groups). Systems identification via frequencydomain data. Examples.

2nd hour Theme Systems identification

Week 8 (3) Tuesday, 17 January 2012 11.00-12.45 (Room: G 5431.0053 Donald Smitszaal) 1st hour Theme Classroom demonstration of the resulting Kalman filtering lab exercise (2 groups). Introduction to Kalman filtering. The construction of Kalman filter. 2nd hour Kalman filtering Classroom demonstration of the resulting lab exercise (2 groups). Examples on the application of Kalman filter in mechatronics. Tutorial Wednesday, 18 January 2012, 11.00-12.45 (Room 5118.0156) TBK3 DT 3+4 Wednesday, 18 January 2012, 13.00-14.45 (Room 5161.0222) TBK3 DT 1+2 Wednesday, 18 January 2012, 15.00-16.45 (Room 5116.0116) TBK DT, M1 2 Thursday, 19 January 2012, 11.00-12.45 (Room 5116.0107) BME, TBK DT, M1 1 Discussion on the eight set of exercise sheet on the past exam questions. Friday, 20 January 2012 09.00-11.45 (Room: 5111.0022) 1st hour Theme Fault diagnosis systems

Classroom demonstration of the resulting lab exercise (2 groups).

Introduction to fault diagnosis systems. Application of fault diagnosis in mechatronics systems. 2nd hour Theme Fault diagnosis systems. Classroom demonstration of the resulting lab exercise (2 groups). Design of fault diagnosis and fault tolerant systems. Examples on fault diagnosis systems.