Risorse bibliografiche
Risorsa bibliografica obbligatoria
Risorsa bibliografica facoltativa
Scheda Riassuntiva
Anno Accademico 2018/2019
Scuola Scuola di Ingegneria Industriale e dell'Informazione
Docente Cusimano Giancarlo
Cfu 10.00 Tipo insegnamento Monodisciplinare

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

Obiettivi dell'insegnamento

The teaching provides the main elements for the study of the motion and vibration control of mechatronic systems. After having explained the planning of the reference motion and the choice of drive system and transmission to move a given load, the classical closed-chain control of speed and position of a motor with PID controllers and inner loops are analysed in detail. The modern control methods are also presented with their advantages and limits. At last mechanical systems with many degrees of freedom for spatial motion generation are studied.


Risultati di apprendimento attesi

Knowledge and understanding

After having passed the exam, the student will:

  • Know the methodology to design a point-to-point motion of a load, taking into consideration the mutual relations among the different quantities involved.
  • Know the different constraints that define the operating ranges of a drive system and a transmission and understand the consequent methodology for their simultaneous choice in relation to a given load.
  • Understand the role of the different feedback loops and of the parameters of the PID controllers in the classic speed and position closed-loop control of an actuator.
  • Know the modern control methods applied to MIMO systems for the control of motion and vibrations, with their potentialities and limits.
  • Know the main problems of positioning a serial robot and its main control architectures.
  • Know the matrical methods for carrying out the kinematic and kinetostatic analysis of a robot and those for its dynamic analysis with different control architectures.

Applying Knowledge and understanding

After having passed the exam, the student will be able:

  • To design a point-to-point motion profile, also in relation to the vibrational characteristics of the load.
  • To make the simultaneous choice of a drive system and a transmission in relation to a given load.
  • To configure the different loops for the closed chain control of speed and position of an actuator and to tune the parameters of the corresponding PID controllers.
  • To model a system in the presence of actuator and vibrating load and to define the control law in relation to the control specifications.
  • To carry out the kinematic analysis of a serial robot and its dynamic analysis with different control structures.

Argomenti trattati

Motion planning

Introduction to motion planning in mechatronic systems. Motion profiles for 1 DoF systems, characteristic coefficients. Motion profiles for vibrating systems.

Motors and transmissions

Operating ranges of drive systems and transmissions. Simultaneous choice of drive system and transmission in relation to a given load.

Motion control

Control system architecture: feedforward and feedback control. Classical and state space control. Speed and position control of an electrical motor: PID controllers and different architectures. Pole placement method. Optimal control. State observer.

Vibration control

Motor and pay-load control. Co-located and non co-located control. Modal control and spill-over effect. 

Spatial motion generation in systems with many DoF

Introduction to robotics. Robot control architecture. Robot kinematics. Manipulability ellipsoids. Robot dynamics.


In order to take the exam, it is mandatory to have passed the exam of "Control and actuating devices for mechanical systems".

Modalità di valutazione

The teaching is based on a series of lessons and practical exercises, following the corresponding lessons as soon as possible, for the consolidation of the acquired knowledge. There are two types of exercises:

- Computer exercises, consisting in the development of software in MATLAB environment for the application of the explained design methods; if possible, these are group exercises.

- Experimental exercises, applied on a small bench based on a controlled DC motor with a PID controller, for the analysis in the time and frequency domain, for the optimal tuning of speed and position controllers, for verifying the effect of a wrong tuning of parameters.

The student must take an oral exam in which he has to answer one question for each of the topics of the teaching. For each question he must show to be able to set the problem, identify the objectives and develop a linear presentation, accompanied by appropriate equations and graphics. The oral test aims at assessing the knowledge and understanding of the mathematical development of methods and approaches for controlled mechanical systems synthesis and evaluation.

The student must also present the developed computer exercises and be able, for one of them, to discuss the succession and the meaning of the implemented equations and the design choices in order to reach a satisfying behaviour of the controlled system. This discussion aims at assessing the understanding of the main practical passages in order to solve a control problem.

The student must also present a report of the experimental tests, pointing out the types of test, their purpose and the achieved results. This report aims at assessing the understanding of the effect of each controller parameter on the behaviour of the controlled motor both in the time domain and in the frequency domain.

Risorsa bibliografica obbligatoriaLecture and exercise notes https://beep.metid.polimi.it/web/2018-19-motion-and-vibration-control-of-mechanical-systems-a
Risorsa bibliografica facoltativaOgata K., Modern Control Engineering, Editore: Prentice-Hall, Anno edizione: 2010, ISBN: 9780137133376
Risorsa bibliografica facoltativaD'Souza A. Frank, Design of Control System, Editore: Prentice-Hall International, Anno edizione: 1988, ISBN: 0-13-200130-6
Risorsa bibliografica facoltativaTsai Lung-Wen, Robot Analysis: the Mechanics of Serial and Parallel Manipulators, Editore: Wiley-IEEE, Anno edizione: 1999, ISBN: 0471325937
Risorsa bibliografica facoltativaLegnani G., Robotica Industriale, Editore: Casa Editrice Ambrosiana, Anno edizione: 2003, ISBN: 88-408-1262-8

Software utilizzato
Nessun software richiesto

Forme didattiche
Tipo Forma Didattica Ore di attività svolte in aula
Ore di studio autonome
Laboratorio Informatico
Laboratorio Sperimentale
Laboratorio Di Progetto
Totale 100:00 150:00

Informazioni in lingua inglese a supporto dell'internazionalizzazione
Insegnamento erogato in lingua Inglese
schedaincarico v. 1.6.9 / 1.6.9
Area Servizi ICT