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Scheda Riassuntiva
Anno Accademico 2014/2015
Scuola Scuola di Ingegneria Industriale e dell'Informazione
Insegnamento 095837 - CONTROL AND ACTUATING DEVICES FOR MECHANICAL SYSTEMS
Docente Sabbioni Edoardo
Cfu 9.00 Tipo insegnamento Monodisciplinare

Corso di Studi Codice Piano di Studio preventivamente approvato Da (compreso) A (escluso) Insegnamento
Ing Ind - Inf (Mag.)(ord. 270) - LC (432) INGEGNERIA MECCANICA* AZZZZ087308 - CONTROL AND ACTUATING DEVICES FOR MECHANICAL SYSTEMS
Ing Ind - Inf (Mag.)(ord. 270) - LC (485) MECHANICAL ENGINEERING - INGEGNERIA MECCANICA* AZZZZ095837 - CONTROL AND ACTUATING DEVICES FOR MECHANICAL SYSTEMS

Programma dettagliato e risultati di apprendimento attesi

The course provides the elements for the modelling and the analysis of mechanical systems equipped with actuators and control. Assess the stability of a controlled mechanical system. Develop control techniques for complex systems considering the complete mechatronic system made up of mechanical system – actuation system – control logic.

 

 

Description of the covered arguments

Stability of mechanical systems. State dependent force fields, both conservative and non-conservative. Mechanical systems under the influence of force fields: general description, equations of motion and linearization, solution of the equations of motion, discussion of stability conditions, position and velocity force fields. Fluid forces on a rigid body including aerodynamic instability (flutter instability of a wing-like profile). Contact forces between rigid bodies including rolling (hunting instability of a wheelset).

 

Introduction to the control of mechanical systems. Simulation models. State variables. Harmonic transfer function. Laplace and Fourier transform. Frequency response function. Block diagram representation.

 

Stability analysis of controlled mechanical systems. Root Locus. Bode and Nyquist diagram. Nyquist criterion. Requirements of a controlled dynamic LTI (linear time invariant) SISO (single input single output) system: synthesis of the control logic, definition of performance and robustness indexes

 

PD and PI controller. Application to 1 dof and 2 dofs vibrating systems

 

Modern approach to the synthesis of a controller. Pole placement method.

 

Hydraulic actuators: basic components, performances, models, hydraulic circuits in automation processes.

 

Electric actuators: basic components, performances, characteristic curves. DC drives: control s. AC drives: control and power electronics, models for synchronous brushless motors. Control of electric drives: basic principles, criteria for torque and speed control, performances.

 

Pneumatic actuators: basic components (cylinders, valves, …), model of controlled air spring.

  

Suggested references

K. Ogata, Modern Control Engineering, Prentice Hall Ed.

L. Meirovitch, Dynamics and control of structures, John Wiley & Sons Ed.

 

Other references in English:

L. Meirovitch, Fundamentals of Vibrations, McGraw-Hill, 2001

R. C. Dorf, R. H. Bishop, Modern Control Systems, Prentice Hall, 2001

Merrit, Hydraulic control systems, John Wiley & Sons

 

Other references in Italian:

G. Diana, F. Resta, Controllo di sistemi meccanici, Polipress, Milano, 2006

G. Diana, F. Cheli, Dinamica e vibrazioni dei sistemi meccanici, UTET, 1993

P. Bolzern, R. Scattolini, N. Schiavoni, Fondamenti di controlli automatici, McGraw-Hill

R. Manigrasso, M. Mauri, F. L. Mapelli, Azionamenti Elettrici Parte I, Generalità e Macchine Rotanti, 2007

 


Note Sulla Modalità di valutazione

The presence at training and informatics laboratory hours is mandatory. A session of o practical laboratory activity is carried out on PID controller. Students will have to bring their notes of all the laboratory sessions to the final exam. The final exam consists of a mandatory written test and an oral examination both to be done in the same session.


Bibliografia

Mix Forme Didattiche
Tipo Forma Didattica Ore didattiche
lezione
52.0
esercitazione
36.0
laboratorio informatico
20.0
laboratorio sperimentale
6.0
progetto
0.0
laboratorio di progetto
0.0

Informazioni in lingua inglese a supporto dell'internazionalizzazione
Insegnamento erogato in lingua Inglese
schedaincarico v. 1.6.1 / 1.6.1
Area Servizi ICT
20/01/2020