Risorse bibliografiche
Risorsa bibliografica obbligatoria
Risorsa bibliografica facoltativa
Scheda Riassuntiva
Anno Accademico 2017/2018
Scuola Scuola di Ingegneria Industriale e dell'Informazione
Docente Tarsitano Davide
Cfu 5.00 Tipo insegnamento Monodisciplinare

Corso di Studi Codice Piano di Studio preventivamente approvato Da (compreso) A (escluso) Insegnamento

Programma dettagliato e risultati di apprendimento attesi

Course objectives and topics


The course will present design and testing topics that involve the integrated application of the main engineering science (mechanics, automation, electrical engineering and informatics) which take part in the conception and realisation of mechatronic and automated systems. The course considers the aspects related to the design and development of an automated system, such as the mechanical/electrical/pneumatic/hydraulic system modelling, the selection and positioning of sensors for control loop closure, the selection of suitable control logics, the control-system modelling, the numerical simulation and experimental implementation in closed-loop of the system under study and the informatics related with industrial automation. In this respect, the course objective is to apply the skills acquired during the study programme on a real system, facing and analysing the related issues.




Subjects description


Methodologies for automated system modelling. Schematisation levels: selection criteria on the basis of the system typology, of the operating conditions, of the working frequency range. Simulation environments.

1. Process simulation and control. Design of process control systems alternatively for the level regulation of coupled tanks or for temperature control of an heat-flow system. Modelling of the systems and linear approximation for control, selection and positioning of the sensors for control loops closure, selection of suitable control logics, compilation of the simulation models for the system to be controlled and for the control system, accounting for the dynamic aspects that may reduce the closed-loop performances (couplings, non-linearities, actuation delays), dynamic simulation in open and closed loop, possible redesign for maximising the system performances.

2. Electrical drives, pneumatic and hydraulic actuators.Survey of electrical drives' components and of of electrical machines' and static converters' performances, definition of DC and AC electrical drives' structure, definition of PLC structure and programming languages.  Experimental evaluation of the issues related with electrical actuators' control, by using standard industrial components and/or open an programmable systems. Laboratory experiences on programmable logic controllers (PLCs), field buses and pneumatic circuits.

3. Robotics laboratory.   Analysis, modelling and design of sensors and of actuators and control synthesis on the basis of the path/trajectory required by industrial robot, thanks to the availability of an industrial robot that allow to perform experimental tests for verifying the system functionality and safety.

4. Active control of mechanical systems. Modelling, testing and optimisation of control systems for motion control and vibration control of mechanical systems with lumped and distributed flexibility. Mechanical system modelling, selection of the sensor position, of the actuation system and of the control law.

Note Sulla Modalità di valutazione

At the beginning of the course the students will be divided in small teams (3-4 persons). A single laboratory experience, to be carried out during all the course duration, will be assigned to each team. The attendance to the training and laboratory hours is mandatory. At the end of the course the teams are required to prepare a written report on the activities carried out during the course. The report contributes to the examination. The examination consists also in an oral test, in the form of presentation and discussion of the performed activities and of the obtained results.

Risorsa bibliografica facoltativaK. J. Åström and R. M. Murray, Feedback Systems, Editore: Princeton University Press, ISBN: 9780691135762
Risorsa bibliografica facoltativaG.C. Goodwin, S.F. Graebe, M.E. Salgado, Control System Design, Editore: Prentice Hall, Anno edizione: 2001, ISBN: 9780139586538
Risorsa bibliografica facoltativaR.C. Dorf, R.H. Bishop, Modern Control Systems, Editore: Prentice Hall, Anno edizione: 2010, ISBN: 9780136024583
Risorsa bibliografica facoltativaP. Vas, Electrical Machines and Drives, Editore: Clarendon Press, Anno edizione: 1993
Risorsa bibliografica facoltativaW. Leonhard, Control of Electrical Drives, Editore: Springer, Anno edizione: 2001
Risorsa bibliografica facoltativaL. Meirovitch, Fundamentals of Vibrations, Editore: McGraw-Hill, Anno edizione: 2002, ISBN: 9780072881806
Risorsa bibliografica facoltativaL. Meirovitch, Introduction to Dynamics and Control, Editore: John Wiley & Sons, Anno edizione: 1985, ISBN: 9780471822820
Risorsa bibliografica facoltativaB. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotics: Modelling, Planning and Control, Editore: Springer, Anno edizione: 2009, ISBN: 9781846286414

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