The course provides principles and methods for the synergic design of mechatronic systems, where the target is maximising the dynamic performances. The design approach uses simulation models of the mechanical part, the drive system, and the control/sensor part.
The course presents transversal methodologies of the mechatronics field that allow outlining the critical points/parameters of the mechatronic system's design.
Base knowledge of mechanical systems, base knowledge of power electronics for electric drives, vibrating systems or mechanical vibrations, base knowledge of informatics, base knowledge of control theory.
Lectures and numerical application activities
Oral exam and discussion of the simulation activities
Motion control in the industrial field, commercial solutions and maximum achievable performances as a function of the required motion profile. Application examples show how to simulate the system and evaluate the performances. Operation flexibility of industrial drive system dedicated to the motion control. Maximum achievable dynamic performances with the industrial drive system. Simulation models of drive systems.
Transmission stiffness influences on motion control system's performance. Dynamic models of the primary transmission used in the industrial field for drive systems and machines tools. Dynamic simulation of the drive system with low stiffness transmission influences on the control system and feedback sensors' position effect on the motion quality.
A systematic approach for writing the motion equation of a mechatronic system. Influence of the actuators and sensors position on the maximum achievable performances as a function of the control algorithm. Dynamic behaviour of the mechanical system as a function of the control algorithm and number of sensors ad actuators used. Simulation of a complete mechatronic system. Presentation of application cases in the industrial and automotive fields.
Force control and hybrid force/position control of robotic systems. Haptic interfaces: passive, active and feedback solutions. Dynamic models of haptic interfaces and general approach to their simulation. Environment stiffness effect on the haptic interface. Interaction of haptic interface with robotic systems.
Static and dynamic characteristics of piezoelectric actuators. Topologies of piezoelectric actuators, functional features, constitutive equation of the piezoelectric ceramic, modelling of piezoelectric actuators.
Introduction to vision systems: image elaboration algorithms, data structure for images, introduction to CCD and to industrial components for vision systems, image elaboration algorithms used in industrial applications
If the course will be delivered in mixed or completely remote form, some changes could be introduced in the syllabus in order to make the course, and the relevant exam, feasible also in this way.
