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Lecturer(s)
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Martínek Tomáš, Ing. Ph.D.
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Course content
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1. Basic knowledge of the motion of bound material objects. Relationship between generalized motion and generalized force. 2. Possibilities of generalized force control as a primary mechanical quantity in motion control. 3. Basic principles of electricity management. Width pulse control (PWM) of electrical energy. Switching power semiconductor elements. 4. PWM control of single-phase and three-phase voltage. Practical examples (exercises) 5. PWM control of single-phase and three-phase current by R-L load. Direct control by two-position regulation. Indirect PWM current control. 6. Electro-hydraulic-mechanical converters as actuators in mechatronics. 7. Electro-mechanical converters (electrical machines) as actuators. Principles and division. 8. DC electric machine. Principle, dynamic description, method of torque and speed control by electrical energy. 9. Alternating electric machine. Principle. Distribution. Possibilities of AC machine torque control via controlled electrical energy. 10. Synchronous machine. Principle. Dynamic description. Control methods 11. Stepper motor as a special case of a synchronous machine. Types, methods of control. Simulation model of energy interactions of a stepper motor and its explanation. Results of simulation experiments. 12. Asynchronous electric machine. Principle. Dynamic description. Control methods 13. Case studies with an example of the use of individual actuators-SS machine 14. Case studies with an example of the use of individual actuators-Synchronous machine with permanent magnets.
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Learning activities and teaching methods
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Monologic (Exposition, lecture, briefing), E-learning
- Preparation for examination
- 20 hours per semester
- Term paper
- 12 hours per semester
- Participation in classes
- 20 hours per semester
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| prerequisite |
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| Knowledge |
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| Knowledge of the content of subjects Electrical Engineering, Mechatronic Systems, Automatic Control, Instrumentation and Technical Means of Automation is assumed. |
| Knowledge of the content of subjects Electrical Engineering, Mechatronic Systems, Automatic Control, Instrumentation and Technical Means of Automation is assumed. |
| learning outcomes |
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| By completing this course, students will gain knowledge and skills in the field of motion control of mechanical structures of robots through embedded actuators of various types. The course builds on the course Mechatronic Systems and assumes basic knowledge of the principles of mechanical movements and transmission of information about them (sensors). |
| By completing this course, students will gain knowledge and skills in the field of motion control of mechanical structures of robots through embedded actuators of various types. The course builds on the course Mechatronic Systems and assumes basic knowledge of the principles of mechanical movements and transmission of information about them (sensors). |
| teaching methods |
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| Monologic (Exposition, lecture, briefing) |
| Monologic (Exposition, lecture, briefing) |
| E-learning |
| E-learning |
| assessment methods |
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| Analysis of seminar paper |
| Analysis of seminar paper |
| Oral examination |
| Oral examination |
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Recommended literature
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De Silva, C.W. Control Senzor and Actuators. Prentice Hall, 1989.
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Úředníček,Z. Elektromechanické akční členy. Zlín, 2009. ISBN 978-80-7318-835-1.
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