354-0909/01 – Modelling of Mechatronic Systems (MECHS)
| Gurantor department | Department of Robotics | Credits | 10 |
| Subject guarantor | prof. Ing. Zdenko Bobovský, PhD. | Subject version guarantor | prof. Dr. Ing. Vladimír Mostýn |
| Study level | postgraduate | Requirement | Choice-compulsory |
| Year | | Semester | winter + summer |
| | Study language | Czech |
| Year of introduction | 2005/2006 | Year of cancellation | 2012/2013 |
| Intended for the faculties | FS, FEI | Intended for study types | Doctoral |
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:
Recommended literature:
Additional study materials
Way of continuous check of knowledge in the course of semester
Konzultace při zpracování samostatného projektu.
E-learning
Other requirements
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
Occurrence in study plans
Occurrence in special blocks
Assessment of instruction
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