- Docente: Roberto Zanasi
- Credits: 6
- SSD: ING-INF/04
- Language: English
- Teaching Mode: Traditional lectures
- Campus: Bologna
- Corso: Second cycle degree programme (LM) in Advanced Automotive Electronic Engineering (cod. 9238)
Learning outcomes
The aim of this course is to provide the basic concepts for modeling, simulation and control of electromechanical systems. In particular, some electromechanical examples in the Automotive and Industrial fields will be considered. The modeling and the simulation of the considered examples will be performed in the Matlab/Simulink environment.
Course contents
Modeling techniques: BG, POG and EMR.
The Power-Oriented Graphs (POG) modeling technique. Energetic Domains.
POG basic properties. Dynamic structure of physical systems.
POG series and parallel connections.
POG state space dynamic model of physical systems.
POG state space congruent transformations.
POG model reduction.
POG input-output inverted system.
POG linear time-variant systems.
POG nonlinear systems.
POG modeling of Three Phase Synchronous Motors
POG modeling of Robotic systems.
System efficiency and parameters estimation.
Examples of modeling physical systems using the POG technique:
Hydraulic clutch system
A mechanical system with backlash and Coulomb friction.
A mechanical transmission:
A car dumper.
The hydraulic system of a car
A crank-connecting rod system.
A Full Toroidal Variator (KERS).
A planetary gear: full model and reduced rigid model.
A planetary gear: the elastic reduced model.
A three-phase electric star connected circuit.
An Electro-hydraulic Pump.
A Continuous Variable Transmission (CVT).
Readings/Bibliography
Lesson notes
Teaching methods
Classroom teaching by means of slides and blackboard.
Assessment methods
Final exam will include: 1) a two hour written test including the solution of some exercises and the answer to many questions regarding the course topics; 2) a short report on the simulation of a physical system in Matlab/Simulnk (optional).
Teaching tools
Lessons and exercises in class.
Several examples of simulations in Matab/Simulink will be carried out during the lessons for supporting the understanding of course topics.
Links to further information
http://www.dii.unimo.it/~zanasi/zanasi.htm
Office hours
See the website of Roberto Zanasi