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Digital Control Systems and Mechatronics


Credits: 12

Objectives: The objective of this course is to introduce the basic control theories for digital systems. The course introduces to physical modeling problems and reviews typical architectures for the control of electro-mechanical systems. The course will enable students to understand electronic circuits and design the related control software for the control of mechanical systems.

Description: Module1 introduces students to mathematical theories of modelling and control. The module quickly reviews basic concepts of continuous time control systems, then it introduces to the theory of digital control: discrete time dynamic systems, sampled data systems, conversion from continuous to discrete time, frequency analysis (Z-Transform), stability, steady state and transient analysis, model based digital control system design (both from continuous time and direct), standard regulators (PID), digital filters. Theoretical lessons are complemented with test cases, and laboratory practices using computer-aided design software.

Module2 introduces to the Mechatronics approach. First, the module introduces modelling techniques for elementary physical systems. Second the module describes input-output interfaces (sensors, drivers and actuators). Finally, the module reviews a set of common electronics standards for data communication and signal conversion. Practical lessons will use a DSP processor platform and commercial electronics. Laboratory lessons also introduce to the use of instruments for diagnosis and debug.

Assessment: Module 1: Written Test and Oral; Module 2: Programming test and Oral

Prerequisites: Basic continuous time control systems, Physics, Signal theory, Programming (C)

Modules: 2

Module 1 (6 Credits): Digital Control Systems

Module 2 (6 Credits): Mechatronics

 

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