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Lecturer(s)
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Course content
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1432/5000 1. General principles of describing the dynamics of mechatronic systems. Lagrange's equations II. kinds. Principle and connection with the description of kinematics of mechanical rigid bodies of bound cinemas. pairs. 2. Algorithmization of creation of equations of motion for serial arrangement of mechanical chains. Use of homogeneous kinematic transformations. 3. Analysis of the general form of equations of motion. Description and explanation of individual parts. Examples of real systems 4. Description of the dynamic system in the phase plane - phase portrait. Case study by parts of a linear system. 5. Hard nonlinearities of mechanical chains with motion control. Describing functions, explanations, applications for the analysis of limit cycles. 6. Basics of Lyapunov's theory. Lyapunov function and its interpretation and use in the draft law of proceedings. 7. Principles of generating required movements of kinematic chains. Polynomial and other approximations of the required motion 8. Analysis of motion control using autonomous control of individual kinematic pairs-joints. Cascade control. Case study. 9. Basics of nonlinear control design. Introduction. 10. Linearization of feedback. Principle. Feedback linearization and canonical form of the system 11. Linearization of input-state, Linearization of input-output. Case study. 12. Sliding mod control. 13. Case study: Design of control with feedback linearization-SCARA 14. Case study: MI control of a physical system. Position control. Motion control along the trajectory
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Learning activities and teaching methods
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Lecturing, Activating (Simulation, games, dramatization), Exercises on PC
- Participation in classes
- 56 hours per semester
- Participation in classes
- 25 hours per semester
- Preparation for course credit
- 8 hours per semester
- Preparation for examination
- 24 hours per semester
- Term paper
- 32 hours per semester
- Home preparation for classes
- 42 hours per semester
- Home preparation for classes
- 73 hours per semester
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| prerequisite |
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| Knowledge |
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| A basic understanding of automatic control, mechanics, and first- and second-order linear ordinary differential equations, including their systems, is assumed |
| A basic understanding of automatic control, mechanics, and first- and second-order linear ordinary differential equations, including their systems, is assumed |
| Skills |
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| The student is capable of simulation-based design and tuning of a control loop and can solve linear differential equations and their systems. |
| The student is capable of simulation-based design and tuning of a control loop and can solve linear differential equations and their systems. |
| learning outcomes |
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| Knowledge |
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| explain the difference between kinematic a dynamic description of a mechatronic system |
| explain the difference between kinematic a dynamic description of a mechatronic system |
| explain the difference between forward and inverse kinematic and dynamic problems. |
| explain the difference between forward and inverse kinematic and dynamic problems. |
| describe the fundamental differences between linear and nonlinear systems |
| describe the fundamental differences between linear and nonlinear systems |
| describe the behavior of a system based on its trajectory in the state space |
| describe the behavior of a system based on its trajectory in the state space |
| describe the types of singularities that occur in the dynamic descriptions of controlled systems |
| describe the types of singularities that occur in the dynamic descriptions of controlled systems |
| Skills |
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| formulate the dynamic description of simple mechanical systems using differential equations |
| formulate the dynamic description of simple mechanical systems using differential equations |
| create the kinematic description of mechanical systems using algebraic equations |
| create the kinematic description of mechanical systems using algebraic equations |
| convert the description of a system represented by differential equations into a graphical form in the state space. |
| convert the description of a system represented by differential equations into a graphical form in the state space. |
| design time-optimal control for simple mechatronic systems |
| design time-optimal control for simple mechatronic systems |
| design the reference trajectory based on given constraints on its time course or time course of its derivatives |
| design the reference trajectory based on given constraints on its time course or time course of its derivatives |
| teaching methods |
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| Knowledge |
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| Activating (Simulation, games, dramatization) |
| Activating (Simulation, games, dramatization) |
| Lecturing |
| Lecturing |
| Exercises on PC |
| Exercises on PC |
| assessment methods |
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| Analysis of seminar paper |
| Oral examination |
| Oral examination |
| Analysis of seminar paper |
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Recommended literature
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SLOTINE, J.-J., LI, W. Applied Nonlinear Control. Prentice Hall, 1991. ISBN 0-13-040890-5.
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