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Scheda Riassuntiva
Anno Accademico 2020/2021
Scuola Scuola di Ingegneria Industriale e dell'Informazione
Insegnamento 097519 - MECHATRONIC SYSTEMS AND LABORATORY A
Docente Braghin Francesco
Cfu 10.00 Tipo insegnamento Monodisciplinare

Corso di Studi Codice Piano di Studio preventivamente approvato Da (compreso) A (escluso) Insegnamento
Ing Ind - Inf (Mag.)(ord. 270) - BV (483) MECHANICAL ENGINEERING - INGEGNERIA MECCANICA*AZZZZ097519 - MECHATRONIC SYSTEMS AND LABORATORY A
097550 - MECHATRONIC SYSTEMS AND LABORATORY B

Obiettivi dell'insegnamento

The course aims at providing the student with the analytical and experimental tools for an integrated approach to mechatronics. In particular, the student's engineering preparation is completed with advanced concepts of modern control theory as well as a deep understanding of smart actuators, their advantages with respect to more traditional actuators, and how to fully exploit their potentialities. These concepts, together with the mechanical engineering background on modelling of mechanical systems and measuring techniques, allow students to design integrated mechatronic components and systems.


Risultati di apprendimento attesi
Knowledge and understanding

At the end of the course, the student knows:

- how to design an advanced control logic
- the rules of state observers
- how smart actuators work, their potentialities and their field of application
- how to design and control a mechatronic component or system (both from a theoretical and practical point of view)
- how to analyze and improve the performance of a mechatronic component or system (both from a theoretical and practical point of view)
 

Ability to apply knowledge and understanding

At the end of the course, the student is able to:

- synthetize modern control algorithms for both linear and nonlinear mechatronic systems
- implement a state observer for both avoiding the use of costly sensors as well as for filtering noisy data
- choose the right actuator for the given mechatronic system
- design a mechatronic component or system given required performances
- test and fine tune the mechatronic component or system

Argomenti trattati

The course describes the methodologies for modelling and controlling mechatronic components and systems. In particular, both lumped parameter and continuous systems are dealt with. Focus is placed on smart actuators and advanced modern control techniques. In detail, the topics dealt with within the course are:

Introduction to mechatronic systems: classification of mechatronic systems, some historical background and everyday examples

Modern control techniques: linear and nonlinear optimal control, LQG, MPC; modal and resonant control

State observers: Kalman filter, Kalman-Bucy filter, Extended Kalman filter, Unscented Kalman filter

Smart actuators: piezoelectric and magnetostrictive actuators, shape memory alloys (SMA), electroactive polymers (EAP), MEMS actuators (and sensors); properties, modelling, production and applications

Applications: modelling of lumped parameter and continuous systems including the actuation, the sensing as well as the control logic; level of schematization according to the required performance and frequencies of interest

In parallel with the lessons (4 hours per week), the student has to follow 2 hours per week of training and 4 hours per week of laboratory (either on Wednesdays or on Thursdays according to the student’s needs) to numerically test the learned models and to physically implement on given benches the proposed algorithms. In particular, the available benches allow to test vibration control algorithms, motion control algorithms, industrial robots, industrial plant emulators, magnetic levitation, etc.

Note: Mechatronic Systems and Laboratory B course is carried out in the same hours of Mechatronic Systems and Laboratory A course but the program is reduced and therefore finishes earlier.

Suggested references

Besides lecture notes provided by the professor that cover the whole program of the course, interested students can deepen their knowledge on specific topics by making reference to the following books:

Bar, Cohen: "Electroactive Polymer (EAP) Actuators as Artificial Muscles"

Dai: "Intelligent Macromolecules for Smart Devices"

Engdahl: "Handbook of Giant Magnetostrictive Materials"

Heywang, Lubitz, Wersing: "Piezoelectricity: Evolution and Future of a Technology"

Uchino: "Advanced Piezoelectric Materials Science and Technology"

Qin: "Advanced Mechanics of Piezoelectricity"

Yang: "An Introduction to the Theory of Piezoelectricity"

Otsuka, Wayman: "Shape Memory Materials"

Lagoudas: "Shape Memory Alloys: Modeling and Engineering Applications"

Lexcellent: "Shape Memory Alloys Handbook"

Baglio, Castorina, Savalli: "Scaling Issues and Design of MEMS"

Gad el Hak: "The MEMS Handbook: MEMS Design and Fabrication"

Stengel: "Optimal Control and Estimation"

Cachuat: "Nonlinear and Dynamic Optimization: From Theory to Practice"

Rawlings, Mayne: "Model Predictive Control: Theory and Design"

Li, Yang, Chen, Chen: "Disturbance Observer Based Control: Methods and Applications"


Prerequisiti

A thorough knowledge of the modelling of mechanical systems as well as of classical control theory is required.


Modalità di valutazione

The exam is based on an oral discussion about the topics dealt with within the course.

A pre-requisite for being admitted to the oral is that the student has presented the work done during the lab hours.

The discussion on laboratory activities and the questions of the oral test aim at verifying both the knowledge achievements and the related application abilities.


Bibliografia

Forme didattiche
Tipo Forma Didattica Ore di attività svolte in aula
(hh:mm)
Ore di studio autonome
(hh:mm)
Lezione
30:00
45:00
Esercitazione
15:00
22:30
Laboratorio Informatico
0:00
0:00
Laboratorio Sperimentale
55:00
82:30
Laboratorio Di Progetto
0:00
0:00
Totale 100:00 150:00

Informazioni in lingua inglese a supporto dell'internazionalizzazione
Insegnamento erogato in lingua Inglese
Disponibilità di materiale didattico/slides in lingua inglese
Disponibilità di libri di testo/bibliografia in lingua inglese
Possibilità di sostenere l'esame in lingua inglese
Disponibilità di supporto didattico in lingua inglese
schedaincarico v. 1.6.5 / 1.6.5
Area Servizi ICT
17/06/2021