354-0909/01 – Modelling of Mechatronic Systems (MECHS)

Gurantor departmentDepartment of RoboticsCredits10
Subject guarantorprof. Dr. Ing. Vladimír MostýnSubject version guarantorprof. Dr. Ing. Vladimír Mostýn
Study levelpostgraduateRequirementChoice-compulsory
YearSemesterwinter + summer
Study languageCzech
Year of introduction2005/2006Year of cancellation2012/2013
Intended for the facultiesFS, FEIIntended for study typesDoctoral
Instruction secured by
LoginNameTuitorTeacher giving lectures
MOS50 prof. Dr. Ing. Vladimír Mostýn
Extent of instruction for forms of study
Form of studyWay of compl.Extent
Full-time Credit and Examination 25+0
Combined Credit and Examination 25+0

Subject aims expressed by acquired skills and competences

The aim of the course is to acquire skills in the field of program tools for modeling complex mechatronic systems and simulating their behavior. The course is focused on the possibilities of modeling the links between the mechanical subsystem and the control and drive subsystems. Students will get an overview of available simulation tools for mechatronic systems modeling.

Teaching methods

Lectures
Individual consultations
Project work

Summary

The subject deals with modeling of complex mechatronic systems and their behavior simulations. Learning outcomes of the course unit The course is focused on the possibilities of modeling the links between mechanical subsystem and control and propulsion subsystem using modern simulation systems. The methodology of so-called co-simulation, ie the simultaneous operation of simulation programs and their data interconnection, is presented in order to investigate interconnections between subsystems.

Compulsory literature:

[1] Sciavicco, L., Siciliano, B. Modelling and Control of Robot Manipulators. Second Edition. Springer-Verlag London Berlin Heidelberg, 2000. ISBN 1852332212 [2] De Silva, Clarence W. Mechatronics: An Integrated Approach. CRC Press, 2004. ISBN 0849312744

Recommended literature:

[1] Angeles, J. Fundamentals of Robotic Mechanical Systems. 2nd Edition. Springer-Verlag New York, 2003. ISBN 038795368X [2] Tsai, L. W. Robot analysis – The mechanics of serial and parallel manipulators. New York: John Wiley & Sons, 1999. ISBN 0-471-32593-7

Way of continuous check of knowledge in the course of semester

Konzultace při zpracování samostatného projektu.

E-learning

Další požadavky na studenta

Basic knowledge of SW packages Matlab and MSC Adams.

Prerequisities

Subject has no prerequisities.

Co-requisities

Subject has no co-requisities.

Subject syllabus:

Dynamics of mechanisms: Main principles of modeling of mechanisms Lagrange equations Newton-Euler equations Dynamics of mechanisms in Pro/Engineer Dynamics of mechanisms in MSC/Adams, Mathematical models of mechanisms in Matlab environment. Dynamics and control of drives: Modeling of the drive dynamics Torque control of the drives Control of mechatronic systems: State - space representation Linearization of the nonlinear systems Synthesis of the optimal control. Simulation of the mechatronic systems: Co-Simulation of the behavior of mechatronic systems in Matlab and MSC/Adams environment Investigation of the interactions among individual subsystems Possibilities of optimalization of the entire mechatronic system

Conditions for subject completion

Full-time form (validity from: 2012/2013 Winter semester, validity until: 2012/2013 Summer semester)
Task nameType of taskMax. number of points
(act. for subtasks)
Min. number of points
Exercises evaluation and Examination Credit and Examination 100 (100) 51
        Exercises evaluation Credit  
        Examination Examination 100  51
Mandatory attendence parzicipation:

Show history

Occurrence in study plans

Academic yearProgrammeField of studySpec.FormStudy language Tut. centreYearWSType of duty
2012/2013 (P2346) Mechanical Engineering (2301V013) Robotics P Czech Ostrava Choice-compulsory study plan
2012/2013 (P2346) Mechanical Engineering (2301V013) Robotics K Czech Ostrava Choice-compulsory study plan
2012/2013 (P2301) Mechanical Engineering (2301V013) Robotics P Czech Ostrava Choice-compulsory study plan
2012/2013 (P2301) Mechanical Engineering (2301V013) Robotics K Czech Ostrava Choice-compulsory study plan
2011/2012 (P2346) Mechanical Engineering (2301V013) Robotics P Czech Ostrava Choice-compulsory study plan
2011/2012 (P2346) Mechanical Engineering (2301V013) Robotics K Czech Ostrava Choice-compulsory study plan
2011/2012 (P2301) Mechanical Engineering (2301V013) Robotics P Czech Ostrava Choice-compulsory study plan
2011/2012 (P2301) Mechanical Engineering (2301V013) Robotics K Czech Ostrava Choice-compulsory study plan
2010/2011 (P2301) Mechanical Engineering (2301V013) Robotics P Czech Ostrava Choice-compulsory study plan
2010/2011 (P2301) Mechanical Engineering (2301V013) Robotics K Czech Ostrava Choice-compulsory study plan
2009/2010 (P2301) Mechanical Engineering (2301V013) Robotics P Czech Ostrava Choice-compulsory study plan
2009/2010 (P2301) Mechanical Engineering (2301V013) Robotics K Czech Ostrava Choice-compulsory study plan
2008/2009 (P2301) Mechanical Engineering (2301V013) Robotics P Czech Ostrava Choice-compulsory study plan
2008/2009 (P2301) Mechanical Engineering (2301V013) Robotics K Czech Ostrava Choice-compulsory study plan
2007/2008 (P2301) Mechanical Engineering (2301V013) Robotics P Czech Ostrava Choice-compulsory study plan
2007/2008 (P2301) Mechanical Engineering (2301V013) Robotics K Czech Ostrava Choice-compulsory study plan
2006/2007 (P2301) Mechanical Engineering (2301V001) Transport and Material Handling P Czech Ostrava Choice-compulsory study plan
2006/2007 (P2301) Mechanical Engineering (2301V001) Transport and Material Handling K Czech Ostrava Choice-compulsory study plan

Occurrence in special blocks

Block nameAcademic yearForm of studyStudy language YearWSType of blockBlock owner