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.

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Course information

Content and learning outcomes

Course contents *

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.

Intended 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 Disposition

Lectures 26h
Taught Exercises 24h
Exercises 12 h

Literature and preparations

Specific prerequisites *

A Bachelor´s degree in mechanical engineering or the equivalent

Have passed the course MF1016 or gained equivalent experience in electrical engineering.

Have passed the course EL1000/EL1010 or gained equivalent experience in control technology.

Have passed the course DD1320/DD1321 or gained equivalent experience in programming techniques.

Recommended prerequisites

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Equipment

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Literature

Delas ut vid kursstart.

Examination and completion

Grading scale *

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

Examination *

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

Based on recommendation from KTH’s coordinator for disabilities, the examiner will decide how to adapt an examination for students with documented disability.

The examiner may apply another examination format when re-examining individual students.

Other requirements for final grade *

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

Opportunity to complete the requirements via supplementary examination

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Opportunity to raise an approved grade via renewed examination

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Examiner

Lei Feng

Further information

Course web

Further information about the course can be found on the Course web at the link below. Information on the Course web will later be moved to this site.

Course web MF2007

Offered by

ITM/Machine Design

Main field of study *

No information inserted

Education cycle *

Second cycle

Add-on studies

Mechatronics advanced course.

Contact

Lei Feng, lfeng@kth.se

Ethical approach *

  • All members of a group are responsible for the group's work.
  • In any assessment, every student shall honestly disclose any help received and sources used.
  • In an oral assessment, every student shall be able to present and answer questions about the entire assignment and solution.