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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
- Preparation for course credit
- 16 hours per semester
- Preparation for examination
- 25 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, Kinematics and Dynamics of Mechatronic Systems is assumed. Furthermore, knowledge of mechanics and linear ordinary differential equations of the 1st and 2nd order and their systems, acquired during the previous study of the field, is assumed. |
| Knowledge of the content of subjects Electrical Engineering, Mechatronic Systems, Automatic Control, Kinematics and Dynamics of Mechatronic Systems is assumed. Furthermore, knowledge of mechanics and linear ordinary differential equations of the 1st and 2nd order and their systems, acquired during the previous study of the field, is assumed. |
| learning outcomes |
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| By completing this course, students will gain knowledge and thanks to a number of solved examples and skills in the field of standard and modern methods of motion control of motion systems of industrial robots and manipulation systems. In addition to standard knowledge of control theory, the specificity of this course is to acquire basic knowledge in the field of control of nonlinear systems |
| By completing this course, students will gain knowledge and thanks to a number of solved examples and skills in the field of standard and modern methods of motion control of motion systems of industrial robots and manipulation systems. In addition to standard knowledge of control theory, the specificity of this course is to acquire basic knowledge in the field of control of nonlinear systems |
| teaching methods |
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| Exercises on PC |
| Lecturing |
| Activating (Simulation, games, dramatization) |
| Activating (Simulation, games, dramatization) |
| Exercises on PC |
| Lecturing |
| assessment methods |
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| Oral examination |
| Oral examination |
| Analysis of seminar paper |
| 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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