Control of Mechanical Systems - a.y. 2016/2017
Period (Year/Semester): I/II
Required/expected prior knowledge: Nothing
Lecturers: Mario Terzo
The course aims to provide the basic knowledge to address the design of a controlled mechanical system through a systemic approach based on physical modelling of systems. The methodologies necessary for the identification and control of mechanical systems are described, with particular reference to the modelling of mechatronic systems (mechanical system, actuator and control algorithm).
Tables of contents:
Simulation models, state variables, harmonic transfer function, Laplace and Fourier transform, frequency response, block representations. Mechanical system stability analysis, root locus, Nyquist criterion, control system requirements. Open and closed loop controllers, mechanical synthesis of control systems, PID controllers, PID controller applications to mechanical systems with 1 and 2 degrees of freedom, influence of the mechanical nonlinearities of the real system. Optimal control, modal control, state observers, nonlinear approaches to control and observation. Hydraulic, electric and pneumatic actuators: modelling and control. Diagnostic and monitoring by means of model-based approaches to estimate variables and parameters of mechanical systems.
Lectures and laboratory.
Textbooks and learning aids:
Diana, F. Resta: Controllo di sistemi meccanici, Polipress
Assessment will be oral.