Course detail

Controlled Dynamical Systems

FSI-RDOAcad. year: 2011/2012

This course deals with the computer modelling of dynamic of MBS. Thus the previous knowledge of Mechanics is directly extended. The solution of ODE is carried out in Matlab as well as in Simulink. Also, the control close loop model is added to mechanical model and the behaviour of system is observed. Moreover, the selected problems of simulation modelling of MBS is described, mainly the friction, impact and contact modelling.

Language of instruction

Czech

Number of ECTS credits

5

Mode of study

Not applicable.

Guarantor

prof. Ing. Ctirad Kratochvíl, DrSc.

Department

Institute of Solid Mechanics, Mechatronics and Biomechanics (ÚMTMB)

Learning outcomes of the course unit

Students obtain knowledge related to these fields:
- dynamic system theory
- mathematical models of components of model
- linear dynamic systems and their analysis
- modelling in Matlab/Simulink
- modelling of controlled systems

Prerequisites

Vector algebra. Matrix algebra. Mathematics in the range of previous study.

Co-requisites

Not applicable.

Planned learning activities and teaching methods

Teaching methods depend on the type of course unit as specified in the article 7 of BUT Rules for Studies and Examinations.

Assesment methods and criteria linked to learning outcomes

The course is evaluated on the base of active participation in exercises and the result of semester project.

Course curriculum

Not applicable.

Work placements

Not applicable.

Aims

Students will be made familiar with the modelling of mechanical, electromechanical and controlled systems on computer.

Specification of controlled education, way of implementation and compensation for absences

The attendance is checked in exercises. Students are supposed to prepare semester project.

Recommended optional programme components

Not applicable.

Prerequisites and corequisites

Not applicable.

Basic literature

Not applicable.

Recommended reading

Valášek M. a kol.: Mechatronika, Vydavatelství ČVUT Praha, 1995

Classification of course in study plans

  • Programme B3A-P Bachelor's

    branch B-MET , 3. year of study, summer semester, compulsory

Type of course unit

 

Lecture

26 hours, optionally

Teacher / Lecturer

doc. Ing. Robert Grepl, Ph.D.

Syllabus

1. Introduction, motivation, examples
2. Dynamic system with continuous time
3. Solution of ODE in Matlab
4. Solution of ODE in Simulinku
5. Application of Maple for equation building
6. Dynamic systems with discrete time
7. Impact, friction and contact modeling in MBS
8. Linearization
9. State space models of linear systems
10. Control of linearized mechanical systems
11. Verification of nonlinear plant model with linear control
12. Stability of linear systems
13. Presentation of semestral project results

Computer-assisted exercise

6 hours, compulsory

Teacher / Lecturer

doc. Ing. Robert Grepl, Ph.D.

Syllabus

1. Introduction to Matlab and Simulink
2.-3. Modelling of linear oscilator
4.-6. Work on semestral project, tutorial

labs and studios

7 hours, compulsory

Teacher / Lecturer

doc. Ing. Robert Grepl, Ph.D.

Syllabus

7.-12. Experimental work - control of real system from PC
13. Presentation of semestral project, assignment.