354-0909/02 – 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 introduction2012/2013Year of cancellation
Intended for the facultiesFEI, FSIntended for study typesDoctoral
Instruction secured by
LoginNameTuitorTeacher giving lectures
BOB0001 doc. Ing. Zdenko Bobovský, PhD.
MOS50 prof. Dr. Ing. Vladimír Mostýn
Extent of instruction for forms of study
Form of studyWay of compl.Extent
Full-time Examination 25+0
Combined 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

Elaboration of a project focused on the modeling of mechatronic systems.

E-learning

Další požadavky na studenta

Basic knowledge of systems for modeling of mechatronic systems - Matlab, MSC Adams, V-Rep, Process Simulate and similar.

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

Combined form (validity from: 2013/2014 Winter semester)
Task nameType of taskMax. number of points
(act. for subtasks)
Min. number of points
Examination Examination  
Mandatory attendence parzicipation:

Show history

Occurrence in study plans

Academic yearProgrammeField of studySpec.FormStudy language Tut. centreYearWSType of duty
2019/2020 (P2346) Mechanical Engineering (2301V013) Robotics P Czech Ostrava Choice-compulsory study plan
2019/2020 (P2346) Mechanical Engineering (2301V013) Robotics K Czech Ostrava Choice-compulsory study plan
2018/2019 (P2346) Mechanical Engineering (2301V013) Robotics P Czech Ostrava Choice-compulsory study plan
2018/2019 (P2346) Mechanical Engineering (2301V013) Robotics K Czech Ostrava Choice-compulsory study plan
2017/2018 (P2346) Mechanical Engineering (2301V013) Robotics P Czech Ostrava Choice-compulsory study plan
2017/2018 (P2346) Mechanical Engineering (2301V013) Robotics K Czech Ostrava Choice-compulsory study plan
2016/2017 (P2346) Mechanical Engineering (2301V013) Robotics P Czech Ostrava Choice-compulsory study plan
2016/2017 (P2346) Mechanical Engineering (2301V013) Robotics K Czech Ostrava Choice-compulsory study plan
2015/2016 (P2346) Mechanical Engineering (2301V013) Robotics P Czech Ostrava Choice-compulsory study plan
2015/2016 (P2346) Mechanical Engineering (2301V013) Robotics K Czech Ostrava Choice-compulsory study plan
2014/2015 (P2346) Mechanical Engineering (2301V013) Robotics P Czech Ostrava Choice-compulsory study plan
2014/2015 (P2346) Mechanical Engineering (2301V013) Robotics K Czech Ostrava Choice-compulsory study plan
2014/2015 (P2301) Mechanical Engineering (2301V013) Robotics P Czech Ostrava Choice-compulsory study plan
2014/2015 (P2301) Mechanical Engineering (2301V013) Robotics K Czech Ostrava Choice-compulsory study plan
2013/2014 (P2301) Mechanical Engineering (2301V013) Robotics P Czech Ostrava Choice-compulsory study plan
2013/2014 (P2301) Mechanical Engineering (2301V013) Robotics K Czech Ostrava Choice-compulsory study plan
2013/2014 (P2346) Mechanical Engineering (2301V013) Robotics P Czech Ostrava Choice-compulsory study plan
2013/2014 (P2346) Mechanical Engineering (2301V013) Robotics K Czech Ostrava Choice-compulsory study plan

Occurrence in special blocks

Block nameAcademic yearForm of studyStudy language YearWSType of blockBlock owner