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Syllabus for

Academic year
SSY156 - Modelling and control of mechatronic systems
Modellering och styrning av mekatroniska system
 
Syllabus adopted 2015-02-17 by Head of Programme (or corresponding)
Owner: MPSYS
7,5 Credits
Grading: TH - Five, Four, Three, Fail
Education cycle: Second-cycle
Major subject: Automation and Mechatronics Engineering, Electrical Engineering
Department: 32 - ELECTRICAL ENGINEERING


Teaching language: English
Open for exchange students: No
Block schedule: A

Course module   Credit distribution   Examination dates
Sp1 Sp2 Sp3 Sp4 Summer course No Sp
0115 Design exercise + laboratory 7,5c Grading: TH   7,5c    

In programs

MPEPO ELECTRIC POWER ENGINEERING, MSC PROGR, Year 1 (elective)
MPSYS SYSTEMS, CONTROL AND MECHATRONICS, MSC PROGR, Year 1 (compulsory elective)

Examiner:

Yiannis Karayiannidis

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 including compulsory elements

Examination is based on




  • compulsory, individual lab assignments

  • compulsory problem solving sessions

  • optional written exam



Published: Mon 28 Nov 2016.