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Mechanical Engineering - Control and Actuating Devices for Mechanical Systems

Control and Actuating Devices for Mechanical Systems


Synthetic program:

Introduction to the control of mechanical systems. Basic concepts of a dynamic system, input and output variables. Control variable and observed variables. Control of a mechanical system: feed-back and feed-forward. Effects of the control action on dynamic performance and disturbance rejection.
Stability of mechanical systems. State dependent force fields: conservative and non-conservative. Mechanical systems under the influence of force fields: general description, equations of motion and linearization, solution of the equations of motion, discussion of stability, position and velocity force fields. Fluid forces on a rigid body including aerodynamic instability (single d.o.f and flutter instability of a profile).
Classic control. Simulation models. State variables. Harmonic transfer function. Laplace and Fourier transform. Frequency response function. Block diagram representation. Root Locus. Bode and Nyquist diagram. Nyquist criterion. Requirements of a controlled dynamic LTI (linear time invariant) SISO (single input single output) system: synthesis of the control logic, definition of performance and robustness indexes.
PD and PI controller. Application to 1 dof and 2 dofs vibrating systems. Performance assessment of the controlled system in time domain and frequency domain. Input and output disturbance rejection.
Hydraulic actuators: basic components, performances, models, hydraulic circuits in automation processes.
Electric actuators: basic components, performances, characteristic curves. DC drives: control s. AC drives: control and power electronics, models for synchronous brushless motors. Control of electric drives: basic principles, criteria for torque and speed control, performances.
Pneumatic actuators: basic components (cylinders, valves, …), model of a controlled air spring.
PID control: practical tuning rules.
Modern approach to the synthesis of a controller. Controllability and observability of a system, Pole placement method.

Lecture Notes

Complete course:

Type File name Year
Digital notes Completed notes of the course 2021/2022
Digital notes Completed notes of the course 2021/2022
Digital notes Complete notes of the lectures 2018/2019

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Exercises

Complete course:

Type File name Year
Digital notes Text 2015/2016
Digital notes Text 2014/2015

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Exams

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Second partial exam:

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Full exam:

Type Date
Text 28/01/2013
Text 18/02/2013
Text 01/07/2013
Text 25/01/2014
Text 27/01/2015
Text 02/02/2015
Text 23/02/2015
Text 15/01/2016
Text 21/01/2017
Text 30/01/2017
Text 03/07/2017
Text 21/07/2017
Text 01/09/2017
Text 15/01/2018
Text 18/06/2018
Text 09/07/2018
Text 03/02/2020
Text 16/06/2020
Text 07/07/2020
Text 31/08/2020
Text 11/01/2021
Solution 27/01/2015
Text 15/06/2021

Oral exam:

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Multiple choice test:

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Other

Laboratory:

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Collections of notes, exercises or exams:

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Live

Quick daily notes, exercises and audio recordings. Files will be approved on priority but deleted after 365 days. 2 points will be assigned by default.

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