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90448 - LABORATORY OF AUTOMATION SYSTEMS T

Academic Year 2022/2023

                
                        Docente:
                        Claudio Melchiorri
                    
                        Credits:
                        6
                    
                        SSD:
                        ING-INF/04
                    
                        Language:
                        Italian
                    
                        Moduli:
                        
                            Claudio Melchiorri
                            (Modulo 1)
                        
                            Davide Samorì
                            (Modulo 2)
                        
                        Teaching Mode:
                        
                                    Traditional lectures (Modulo 1)
                                
                                    Traditional lectures (Modulo 2)
                                
                            Campus:
                            Bologna
                        
                            Corso:
                            First cycle degree programme (L) in
                            Automation Engineering (cod. 9217)

                            Teaching resources on Virtuale

Learning outcomes

Goal of the course is to deepen the skills and competencies in the design and implementation of real-time control systems, in particular with respect to automatic machines, robots and motion control systems. Additional control techniques will be introduced, as: 1) Adaptive control systems based on model reference and selftuning schemes, to cope with system parameter uncertainties and variable operating conditions; 2) Feedback/Feedforward control design for electrical drives in modern automatic machines. Students will learn how to face possible problems deriving from discrete-time implementation of these control schemes.

Course contents

This is a laboratory course on the design of digital controllers for electric motors, automatic machines, robots. In the first part (30 hourse), assuming a basic knowledge of standard controllers (e.g. PID, lead/lag), the following topics will be discussed.

Design of discrete-time controllers: discretization and direct synthesis
Pole/Zero Placement
Deadbeat controllers
Dahlin controllers
Adaptive Control
Control of an Electric Drive (cascade control, feedforward action, ...)

Readings/Bibliography

Notes and other teaching material are available on "Virtuale".

Books (suggested):

• C. Bonivento, C. Melchiorri, R. Zanasi, "Sistemi di Controllo Digitale", Progetto Leonardo, Esculapio Ed., Bologna

• K. Ogata, "Discrete-Time Control Systems", Prentice Hall

Teaching methods

The course is taught in English, and is composed by two modules. The first consists of 30 hours of lessons, (3 credits); Simulation tools will also be presented, which will be used in the second module of the course (laboratory activity - 30 hours, 3 CFU).

Assessment methods

Final assessment consists in the presentation of the activities developed in the laboratory part, with a discussion on some theoretical arguments illustrated in the first part of the course.

Teaching tools

First module: Slides and notes.

Second module: Laboratory setups.

Office hours

See the website of Claudio Melchiorri

See the website of Davide Samorì