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Syllabus for |
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| SSY156 - Modelling and control of mechatronic systems |
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| Syllabus adopted 2015-02-17 by Head of Programme (or corresponding) |
| Owner: MPSYS |
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7,5 Credits |
| Grading: TH - Five, Four, Three, Not passed |
| Education cycle: Second-cycle |
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Major subject: Automation and Mechatronics Engineering, Electrical Engineering
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Department: 32 - ELECTRICAL ENGINEERING
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Teaching language: English
Block schedule:
A
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Credit distribution |
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Examination dates |
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Sp1 |
Sp2 |
Sp3 |
Sp4 |
Summer course |
No Sp |
| 0115 |
Design exercise + laboratory |
7,5 c |
Grading: TH |
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7,5 c
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In programs
MPSYS SYSTEMS, CONTROL AND MECHATRONICS, MSC PROGR, Year 1 (compulsory elective)
Examiner:
Docent Paolo Falcone
Replaces
SSY155
Mechatronic design
Eligibility:
In order to be eligible for a second cycle course the applicant needs to fulfil the general and specific entry requirements of the programme that owns the course. (If the second cycle course is owned by a first cycle programme, second cycle entry requirements apply.)
Exemption from the eligibility requirement:
Applicants enrolled in a programme at Chalmers where the course is included in the study programme are exempted from fulfilling these requirements.
Learning outcomes (after completion of the course the student should be able to)
- Understanding the Euler-Lagrange method
- Learning how to apply the Euler-Lagrange method to
multi-body systems and to derive mathematical models describing their motion
- Learning how to formulate kinematic models
describing the position and orientation of complex multi-body systems within
the operational space
- Learning model-based motion control frameworks to
control the motion of multi-body systems and their interaction with the
environment
- Understanding the method of the describing function
to analyze the closed-loop stability of mechatronic systems in presence of
nonlinearities like, e.g., saturations, relays, hystereses, dead zones.
Content
- Mathematical modeling of multi-body systems
- The Euler-Lagrange method
- Kinematics
- Differential Kinematics
- Motion control multi-body systems
- Inverse dynamics control
- Decentralized control
- Interaction control with the environment. Force
control, Impedance control, Compliance control
- Nonlinearities. Analysis of feedback control
schemes with nonlinearities
- Method of the describing function
Organisation
The course consists of lectures and a number of compulsory lab assignments and problem solving sessions.
Literature
- Modelling and Control of Robot Manipulators,
Sciavicco, Siciliano. Springer (freely available through the Chalmers online
library), Main course textbook
- Motion Control Systems, Asif Sabanovic, Kouhei Ohnishi. Wiley (freely available through the Chalmers online library),
Complementary course textbook
Examination
Examination is based on
- compulsory, individual lab assignments
- compulsory problem solving sessions
- optional written exam
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