97969 - LABORATORIO DI CONTROLLI E ATTUATORI P-IM

Learning outcomes

At the end of the laboratory the student has acquired numerical simulation tools and knows how to apply them to the study of simple dynamic systems, with particular emphasis on DC motors. He also experimented on direct current motors the development of simple feedback controls in the presence of references and variable loads.

Course contents

• Simulation of open loop and closed loop control systems.
  
• Simulation of electrical systems and mechanical systems with translation and rotary motion. Simulation of DC servomotors
• Frequency domain analysis. Initial conditions problem. The forced response and the transfer function. Transition from the state space to the transfer function.
• Simulation of first and second order systems. Responses of higher order systems and dominance criteria.
  
• Computer analysis of Bode diagrams and Nyquist diagrams.
  
• Simulation of disturbances in open loop and closed loop systems. Sensitivity and complementary sensitivity functions. Effect of noise in relation to the point of entry into the control loop. Parametric sensitivity in the direct branch and in the feedback branch.
  
• Computer analysis and synthesis through root locus, complementary root locus and root contour.
• Computer synthesis in the time domain and in the frequency domain. Satisfaction of static specifications and principle of the internal model.
• Design, simulation and experimentation on DC motors of corrective networks: retarder, anticipator. Inversion formulas.
  
• Simulation and experimentation on DC motors of the PID regulator and use of the Ziegler-Nichols calibration method.
  
• Simulation and experimentation on DC motors of cascade control systems, reference signal pre-filtering, Feedforward / Feedback control schemes, desaturation of the integral action.
  
• Computer design examples for linear and non-linear models by linearization.
• Power converters: Electronic power converters, Hysteresis regulators
  
• DC machine: Matlab-Simulink model. DC machine control diagram.
  
• Synchronous Machine: Matlab-Simulink model. Hysteresis control scheme of the synchronous machine.
  
• Drive sizing: Analysis of catalogs and data of electric motors. Criteria to choose motors according to the characteristics of the mechanical load.
  
• Asynchronous Machine: Analysis of the asynchronous machine in Matlab-Simulink environment.

Readings/Bibliography

• G. Marro. Controlli Automatici. Zanichelli Ed. Bologna

• P.Bolzern, R.Scattolini, N.Schiavoni. "Fondamenti di Controlli Automatici", McGraw Hill 2004

• R. Carloni, C. Melchiorri, G. Palli, "Esercizi di Controlli Automatici e Teoria dei Sistemi", Progetto Leonardo, Bologna

• R. Zanasi, "Esercizi di Controlli Automatici. Testi d'esame svolti", Esculapio, Progetto Leonardo, Bologna

• B. Brunelli: Conversione elettrica ed elettromeccanica dell'energia, Pitagora, Bologna
  

• A. E. Fitzgerald, C. Kingsley, A. Kusko: Macchine elettriche. Franco Angeli
  

• M. Rashid, "Elettronica di potenza. Vol.1, dispositivi e circuiti", Pearson-Prentice Hall, 2007, 3a edizione
  

• N. Mohan, T. Undeland, W. Robbons, "Elettronica di potenza: convertitori e applicazioni", Hoepli, 2005, 3a edizione

• Lecture notes and other material provided by the professor
  

Teaching methods

During the course classroom exercises will be carried out both based on simulation and on simple experimental equipment

Assessment methods

The final test consists in the presentation of the simulation and experimental activities developed during the course.

Teaching tools

• Lecture notes and other material provided by the professor
• Simulation software
  
• Experimental platforms

Office hours

See the website of Gianluca Palli

See the website of Giacomo Sala