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MF2007 Dynamics and Motion Control 9.0 credits

Dynamik och rörelsestyrning

The course gives insight in Mechatronic Control System design. The focus is on modelling, design and prototyping of control systems for mechatronic applications. The course integrates previous knowledge primarily from courses in mechanics, automatic control, electrical and software engineering. After the course you will be able to specify, model, design and partly implement control systems typical for mechatronic products, using professional computer based tools.

  • Educational level

    Second cycle

  • Academic level (A-D)

    D

  • Subject area

  • Grade scale

    A, B, C, D, E, FX, F

Course offerings

Spring 13 for programme students

Spring 14 for programme students

Learning outcomes

At the end of this course, the student should be able to:

  • Specify overall performance requirements for a motion control system.
  • Understand the implication, and master the selection, of actuator and sensor components.
  • Derive dynamic models of typical mechatronic applications.
  • Find the correct parameters of dynamic models using experimental methods.
  • Do dynamic analysis of the model in both frequency and time domain.
  • Design model based feedback and model following control, i.e., servo control, both in continuous and discrete time .
  • Do simulations of application and control system models in continuous and discrete time for the purpose of verification, performance analysis and further devlopment
  • Implement and structure the controller software for microprocessor implementation.
  • Understand implementation restrictions due to sensor and actuator limitations and microprocessor resources such as computing speed, fixed vs. floating point arithmetic and memory.
  • Design and use both digital and analogue filters.

Course main content

The course includes lectures to provide overview and inspiration, and laboratory work in which the participants work on a project. The project is modularized and parts of it are to be finalized each week of the course. The project work is done in groups of up to three to four participants. The course is concluded by oral presentations per group of the project work and by an individual written exam.

Disposition

Lectures 26h
Taught Exercises 24h
Exercises 12 h

Eligibility

Open for students approved for 3rd year study, taking either MF1016 or MF1017 (or equivalent)

Prerequisites

The course is based on BSc thesis project in mechatronics (MF106X-MF109X), on basic knowledge in control theory (EL1000), programming (DD1321), modeling of dynamic systems (EL1820) and a basic course in mechatronics (MF2030).

Literature

Delas ut vid kursstart.

Examination

  • PRO1 - Project, 6.0 credits, grade scale: P, F
  • TEN1 - Examination, 3.0 credits, grade scale: A, B, C, D, E, FX, F

Requirements for final grade

Completed hands-in part of the project. Oral presentation of the project (PRO1; 6 cr). Written exam (TEN1; 3cr).

Offered by

ITM/Machine Design

Contact

Bengt Eriksson, benke@md.kth.se, 08 790 6390

Examiner

Jan Wikander <janwi@kth.se>

Add-on studies

MF2044 Embedded Control System I, 6 credits. Mechatronics advanced course, 18 credits.

Version

Course plan valid from: Spring 13.
Examination information valid from: Autumn 07.