Course objectives and topics

The fundamental elements concerning modelling and analysis of mechanical systems, integrated
with actuating devices and control units are presented. The problem of the system stability is
analysed in detail and models of mechatronic systems are developed, by integrating the model of
the mechanical subsystem with the one of the actuating device (both electric and hydraulic actuators
are analysed).

Subjects description
Introduction on mechanical systems control.
Dynamic systems modelling. SISO & MIMO systems. State-space models. Laplace and Fourier
Transforms, Fourier series. Transfer Function. Frequency Response Function and its graphical
representation. Block diagrams.
Stability analysis of mechanical systems. Stability analysis of single, two and multi d.o.f. systems
subjected to non-linear force fields. Static and dynamic instability. Flutter instability. Examples of
applications.
Synthesis of a control system. Stability and performance requirements for feed-back control
systems (LTI systems). Root locus.
PID controllers. Applications to single and two d.o.f. mechanical systems. Stability and
performance analysis.
Modern approach to the synthesis of a control system. Pole allocation method. Introduction to
LQR, modal control and state observers (Kalman filter).
Hydraulic actuators. Structure, components and fundamental equations. Mathematical model of an
hydraulic actuator. Displacement control and force control.
Electric actuators. Structure and components. Principles of electromechanics. Separately excited
DC motor and permanent magnets DC motor: operation principle and dynamic model. Steady-state
behaviour: speed-torque characteristic. AC drives. Overview and components. Permanent magnet
AC brushless motor drive: operation principle and dynamic model. Electronic power converters for
electrical drives.
Mechanical components for automation. Reduction units, friction clutch, torque converters, belt
drive. Modelling and analysis.
Control of a mechatronic system. Modelling and simulation of a complete mechatronic system
(mechanical system, actuator and control unit). Position and velocity control. Examples of
application to simple mechatronic systems.

Information resources and literature

- Lecture handouts
- G. Diana, F. Cheli, Dinamica e vibrazioni dei sistemi meccanici, UTET, 1993, vol. I e II
- L. Meirovitch, Fundamentals of Vibrations, McGraw-Hill, 2001
- G. Diana, F. Resta, Controllo di sistemi meccanici, Polipress, Milano, 2006
- P. Bolzern, R. Scattolini, N. Schiavoni, Fondamenti di controlli automatici, McGraw-Hill
- L. Meirovitch, Introduction to Dynamics and Control, Wiley, 1985
- D. Inman, Vibration with control measurement and stability, ed. Prentice Hall
- R. C. Dorf, R. H. Bishop, Modern Control Systems, Prentice Hall, 2001
- L. Meirovitch, Dynamics and control of structures, ed. John Wiley & Sons
- K. Ogata, Modern Control Engineering, Prentice-Hall, Inc., 2002
- R. Manigrasso, Macchine elettriche, CUSL, Milano, 2001
- Merrit, Hydraulic control systems, John Wiley & Sons
Course structure and examinations
The examination consists in both a written and an oral test. All the students must attend the training
sessions and the laboratories in computer room, dedicated to numerical applications. Students are
required to present, at the oral test, a report on the numerical applications analysed during the
course.