Control and Actuating Devices for Mechanical Systems

Synthetic program:

Introduction to the control of mechanical systems. Basic concepts of a dynamic system, input and output variables. Control variable and observed variables. Control of a mechanical system: feed-back and feed-forward. Effects of the control action on dynamic performance and disturbance rejection.
Stability of mechanical systems. State dependent force fields: conservative and non-conservative. Mechanical systems under the influence of force fields: general description, equations of motion and linearization, solution of the equations of motion, discussion of stability, position and velocity force fields. Fluid forces on a rigid body including aerodynamic instability (single d.o.f and flutter instability of a profile).
Classic control. Simulation models. State variables. Harmonic transfer function. Laplace and Fourier transform. Frequency response function. Block diagram representation. Root Locus. Bode and Nyquist diagram. Nyquist criterion. Requirements of a controlled dynamic LTI (linear time invariant) SISO (single input single output) system: synthesis of the control logic, definition of performance and robustness indexes.
PD and PI controller. Application to 1 dof and 2 dofs vibrating systems. Performance assessment of the controlled system in time domain and frequency domain. Input and output disturbance rejection.
Hydraulic actuators: basic components, performances, models, hydraulic circuits in automation processes.
Electric actuators: basic components, performances, characteristic curves. DC drives: control s. AC drives: control and power electronics, models for synchronous brushless motors. Control of electric drives: basic principles, criteria for torque and speed control, performances.
Pneumatic actuators: basic components (cylinders, valves, …), model of a controlled air spring.
PID control: practical tuning rules.
Modern approach to the synthesis of a controller. Controllability and observability of a system, Pole placement method.