354-0512/01 – Drives of Robots (PoRo)

Gurantor departmentDepartment of RoboticsCredits4
Subject guarantorprof. Dr. Ing. Petr NovákSubject version guarantorprof. Dr. Ing. Petr Novák
Study levelundergraduate or graduateRequirementCompulsory
Year2Semestersummer
Study languageCzech
Year of introduction2004/2005Year of cancellation2009/2010
Intended for the facultiesFSIntended for study typesMaster
Instruction secured by
LoginNameTuitorTeacher giving lectures
MOS50 prof. Dr. Ing. Vladimír Mostýn
NOV20 prof. Dr. Ing. Petr Novák
Extent of instruction for forms of study
Form of studyWay of compl.Extent
Full-time Credit and Examination 3+3
Part-time Credit and Examination 12+4

Subject aims expressed by acquired skills and competences

Analysis of the specialyties drives in Robotics, Define a request on drive, Drive design, Experiments with drives.

Teaching methods

Lectures
Tutorials
Experimental work in labs

Summary

Driving robot subsystem and its links on mechanical and control subsystems, dividing electrics drives, basic conceptions, steping motors, control of multiaxex systems, position and speed control, AC and DC motors and their control, torque control,

Compulsory literature:

[1] KENJO Takanashi, Stepping motors and their microprocessor controls. Oxford 1985, 239 s., ISBN- 0-19-859339-2 [2] EDWIN,W.: Applied Robotics. PROMPT Publications by Howard W.Sams. 312 pp.,1999. USA. ISBN 0?7906?1184-8 [3] Neil Sclater, Nicholas Chironis. Mechanisms and Mechanical Devices Sourcebook, McGraw-Hill Education; 5 edition, 560 pp., August 12, 2011, ISBN-13: 978-0071704427

Recommended literature:

[2] U.A.Bakshi, M.V.Bakshi: Electrical Drives And Control Braun Jan: Maxon Academy- Formulae Handbook

Way of continuous check of knowledge in the course of semester

E-learning

Other requirements

Prerequisities

Subject has no prerequisities.

Co-requisities

Subject has no co-requisities.

Subject syllabus:

Týden Náplň přednášky a cvičení 1. Úvod do problematiky, krokové motory, vlastnosti, druhy, rozdělení- rotační a lineární, základní charakteristiky. 2. Způsoby buzení fází – napěťové, proudové, spínané. 4 a 8-taktní řízení, mikrokrokování, řízení v oblastech start-stop a kontrolovaného zrychlení momentové charakteristiky, mikrokrokování. 3. Řízení pohonů s KM pomocí PLC a PC, specializované autonomní řídicí karty, popis karty PCL-839. 4. Stejnosměrný motor, základní vztahy a charakteristiky, 1,2 a 4Q budiče, použití 5. Senzory pro rychlostní a polohové řízení, napojení senzorů do řídicího systému, zpracování informací senzorů, typická zapojení rychlostní a polohové (jednoosé) servosmyčky. Simulace. 6. Synchronní motor, vlastnosti, charakteristiky 7. Měnič synchronního pohonu, nastavení parametrů 8. Asynchronní motor, vlastnosti, charakteristiky 9. Měnič asynchronního pohonu, způsoby řízení, programování 10. Zápočet.

Conditions for subject completion

Full-time form (validity from: 1960/1961 Summer semester)
Task nameType of taskMax. number of points
(act. for subtasks)
Min. number of pointsMax. počet pokusů
Exercises evaluation and Examination Credit and Examination 100 (100) 51 3
        Exercises evaluation Credit 35 (35) 0 3
                Project Project 25  0 3
                Written exam Written test 10  0 3
        Examination Examination 65 (65) 0 3
                Written examination Written examination 35  0 3
                Oral Oral examination 30  0 3
Mandatory attendence participation:

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Conditions for subject completion and attendance at the exercises within ISP:

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Occurrence in study plans

Academic yearProgrammeBranch/spec.Spec.ZaměřeníFormStudy language Tut. centreYearWSType of duty
2005/2006 (N2301) Mechanical Engineering (2301T032) Production Systems with Industrial Robots and Manipulators P Czech Ostrava 2 Compulsory study plan
2005/2006 (N2301) Mechanical Engineering (2301T032) Production Systems with Industrial Robots and Manipulators K Czech Ostrava 2 Compulsory study plan
2004/2005 (N2301) Mechanical Engineering (2301T032) Production Systems with Industrial Robots and Manipulators P Czech Ostrava 2 Compulsory study plan
2004/2005 (N2301) Mechanical Engineering (2301T032) Production Systems with Industrial Robots and Manipulators K Czech Ostrava 2 Compulsory study plan

Occurrence in special blocks

Block nameAcademic yearForm of studyStudy language YearWSType of blockBlock owner

Assessment of instruction

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