
Course unit
CONTROL OF MECHANICAL SYSTEMS
INL1001809, A.A. 2019/20
Information concerning the students who enrolled in A.Y. 2018/19
ECTS: details
Type 
ScientificDisciplinary Sector 
Credits allocated 
Core courses 
INGIND/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 
Prerequisites:

Basics knowledges in:
* Mechanics of Machines (kinematic and dynamic analysis of mechanisms and mechanical power transmissions)
* Mechanics of Vibrations (the springmassdamper system, modal analysis of multidof 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 electromechanical 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 offtheshelf 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 RIGIDBODY 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, beltrack: 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 servocontrolled 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. Colocated, non colocated, 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 offtheshelf 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.

C. Melchiorri, Traiettorie per azionamenti elettrici. Bologna: Esculapio, .

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)

