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.

  • Education cycle

    Second cycle
  • Main field of study

  • Grading scale

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

Course offerings

Autumn 19 for programme students

Autumn 18 for programme students

Autumn 18 Doktorand for single courses students

  • Periods

    Autumn 18 P2 (9.0 credits)

  • Application code

    10175

  • Start date

    29/10/2018

  • End date

    14/01/2019

  • Language of instruction

    English

  • Campus

    KTH Campus

  • Tutoring time

    Daytime

  • Form of study

    Normal

  • Number of places *

    Min. 5

    *) The Course date may be cancelled if number of admitted are less than minimum of places.

  • Course responsible

    Lei Feng <lfeng@kth.se>

  • Teacher

    Hans Johansson <hbjo@kth.se>

    Lei Feng <lfeng@kth.se>

  • Target group

    For doctoral students at KTH

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 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

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.

Literature

Delas ut vid kursstart.

Examination

  • PRO1 - Project, 6.0, grading scale: P, F
  • TEN1 - Examination, 3.0, grading 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

Lei Feng, lfeng@kth.se

Examiner

Lei Feng <lfeng@kth.se>

Add-on studies

Mechatronics advanced course.

Version

Course syllabus valid from: Spring 2018.
Examination information valid from: Autumn 2007.