First cycle
degree courses
Second cycle
degree courses
Single cycle
degree courses
School of Engineering
MECHATRONIC ENGINEERING
Course unit
CONTROL OF MECHANICAL SYSTEMS
INL1001809, A.A. 2019/20

Information concerning the students who enrolled in A.Y. 2018/19

Information on the course unit
Degree course Second cycle degree in
MECHATRONIC ENGINEERING
IN0529, Degree course structure A.Y. 2011/12, A.Y. 2019/20
N0
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Number of ECTS credits allocated 9.0
Type of assessment Mark
Course unit English denomination CONTROL OF MECHANICAL SYSTEMS
Department of reference Department of Management and Engineering
E-Learning website https://elearning.unipd.it/dtg/course/view.php?idnumber=2019-IN0529-000ZZ-2018-INL1001809-N0
Mandatory attendance No
Language of instruction Italian
Branch VICENZA
Single Course unit The Course unit can be attended under the option Single Course unit attendance
Optional Course unit The Course unit can be chosen as Optional Course unit

Lecturers
Teacher in charge DARIO RICHIEDEI ING-IND/13

ECTS: details
Type Scientific-Disciplinary Sector Credits allocated
Core courses ING-IND/13 Applied Mechanics for Machinery 9.0

Course unit organization
Period First semester
Year 2nd Year
Teaching method frontal

Type of hours Credits Teaching
hours
Hours of
Individual study
Shifts
Lecture 9.0 72 153.0 No turn

Calendar
Start of activities 23/09/2019
End of activities 18/01/2020
Show course schedule 2019/20 Reg.2011 course timetable

Examination board
Board From To Members of the board
9 2018 01/10/2018 15/03/2020 RICHIEDEI DARIO (Presidente)
TREVISANI ALBERTO (Membro Effettivo)
BOSCARIOL PAOLO (Supplente)
BOSCHETTI GIOVANNI (Supplente)
CARACCIOLO ROBERTO (Supplente)

Syllabus
Prerequisites: Basics knowledges in:
* Mechanics of Machines (kinematic and dynamic analysis of mechanisms and mechanical power transmissions)
* Mechanics of Vibrations (the spring-mass-damper system, modal analysis of multi-dof systems)
* Automatic Control (Laplace transform, Bode diagrams, the root locus, stability criteria, system analysisn in the frequency and time domains)
Target skills and knowledge: The course is aimed at proving a concurrent approach to the design and control of mechanical systems, by accounting for the mutual relations between different engineering domains, in order to supply a knowledge of the main techniques for control of mechanical systems. The following capabilities are expected at the end of the course:
- Knowledge of the main electro-mechanical actuators and transmissions and capability of selecting and sizing according to their dynamic properties;
- Use of dynamic model for designing/sizing systems and for control synthesis in mechanical systems.
- Reading catalogues of off-the-shelf components, for applying sizing methods, parameter identification, comparison of different solutions.
- Understanding the mutual relations between the components of a mechatronic system and the dynamic performances of the controlled systems.
- Ability in solving problems dealing with sizing, motion planning and control.
Examination methods: The assessment of knowledge and abilities is carried out through an exam divided into two parts distributed over two separate days.
First part: the students should solve a written exam with some practical problems (exercises) and theoretical developments concerning the design of the main electromechanical components of a mechatronic system and of its control scheme. The solution imposes making wisely some design choices and assumption, and the application of the methods developed in the frontal lectures.
Second part: All students who have passed the written test must take an oral test to discuss in more detail the topics of the course, for evaluating their capability to provide a organic and comprehensive synthesis of the topics.
Assessment criteria: The evaluation criteria with which the knowledge and abilities acquired will be verified are:
- completeness of the theoretical knowledge acquired on the course topics;
- ability to apply theory to practical examples;
- capability in making proper design choices, by comparing different solutions with a rigorous and exhaustive approach;
- level of autonomy acquired in the interpretation and solution of the given problems;
- presentation capabilities and rigorousness in the discussion and possible exposure of the issues discussed.
Course unit contents: MODELING OF RIGID-BODY LINK MECHANISMS
Dynamic model of systems with one or more dofs, with constant or variable inertia. Reflected inertia. Efficiency of transmissions. Friction.

MOTION PLANNING
Selection criteria. Basic motion profiles and optimized ones. Composition of motion profiles. Effect of flexibility. Model based design of motion profiles.
Electronic cams.

POWER TRANSMISSIONS
Epicyclic gears, HarmonicDrives, CycloDrives, Ball screws, Roll screws, belt-rack: kinematic and dynamic analysis, features, sizing and selection criteria according to static and dynamic performances, shelf life, vibrational features. Comparison between different technologies. Reading catalogues.

INTEGRATED SELECTION OF ELETTRIC MOTORS AND TRANSMISSIONS
Issues in motor selection. Optimal gear ratio: computation and relation with system performances. Integrated approach in the selection of motor, motion profile, gear ratio, transmission. Numerical exercises.

SPEED AND POSITION CONTROL OF ELECTROMECHANICAL SYSTEMS WITH RIGID JOINT
Model of a servo-controlled system. Synthesis and tuning of feedback control schemes. Use of simplified model for tuning and evaluating performance limitation due to the system characteristics. Feedforward control. Industrial schemes for motion control. Advanced schemes: load observer, speed observer.
Effect of variable inertia. Effect of backlash.

SPEED AND POSITION CONTROL OF ELECTROMECHANICAL SYSTEMS WITH FLEXIBLE JOINT
Active and passive vibration control of mechanical systems. Dynamic models and model simplifications for control tuning. Co-located, non co-located, hybrid control architectures. Experimental identification of model parameters. Advanced control schemes (e.g. resonance ration control). Effect of inertia ratio.

LABORATORY AND NUMERICAL SIMULATION IN MOTION CONTROL
Implementing models for numerical simulations.
Control with experimental industrial devices. Control tuning. Master and slave systems. Motion planning through input shaping of vibrating systems.
Planned learning activities and teaching methods: - Lectures, also with the support of computer material, with practical applications of the methods proposed.
- Exercises developed on the blackboard , by solving exercises related to real test cases.
- Experimental laboratories (at a departmental research laboratory).
- Seminars held by experts in the field.
Additional notes about suggested reading: All teaching material is made available by the "moodle" platform (https://elearning.unipd.it/dtg/). It comprises:
- lecture notes written by the professor;
- exercises for exam preparation;
- papers taken from international journals;
- catalogues of off-the-shelf components;
- software codes.
Textbooks (and optional supplementary readings)
  • G.Legnani, M. Tiboni, R. Adamini, D. Tosi, Meccanica degli Azionamenti - Vol.1 Azionamenti Elettrici. Bologna: Esculapio, 2008. Cerca nel catalogo
  • C. Melchiorri, Traiettorie per azionamenti elettrici. Bologna: Esculapio, --. Cerca nel catalogo

Innovative teaching methods: Teaching and learning strategies
  • Lecturing
  • Laboratory
  • Problem based learning
  • Case study
  • Questioning
  • Problem solving
  • Concept maps
  • Use of online videos
  • Learning journal

Innovative teaching methods: Software or applications used
  • Moodle (files, quizzes, workshops, ...)
  • One Note (digital ink)
  • Matlab

Sustainable Development Goals (SDGs)
Industry, Innovation and Infrastructure