Wydział Elektryczny - Automatyka i robotyka (S1)
Sylabus przedmiotu Control of complex mechanical systems:
Informacje podstawowe
| Kierunek studiów | Automatyka i robotyka | ||
|---|---|---|---|
| Forma studiów | studia stacjonarne | Poziom | pierwszego stopnia |
| Tytuł zawodowy absolwenta | inżynier | ||
| Obszary studiów | charakterystyki PRK, kompetencje inżynierskie PRK | ||
| Profil | ogólnoakademicki | ||
| Moduł | — | ||
| Przedmiot | Control of complex mechanical systems | ||
| Specjalność | przedmiot wspólny | ||
| Jednostka prowadząca | Katedra Automatyki i Robotyki | ||
| Nauczyciel odpowiedzialny | Zbigniew Emirsajłow <Zbigniew.Emirsajlow@zut.edu.pl> | ||
| Inni nauczyciele | |||
| ECTS (planowane) | 2,0 | ECTS (formy) | 2,0 |
| Forma zaliczenia | zaliczenie | Język | angielski |
| Blok obieralny | 18 | Grupa obieralna | 1 |
Formy dydaktyczne
Wymagania wstępne
| KOD | Wymaganie wstępne |
|---|---|
| W-1 | Control theory 1 |
| W-2 | Control theory 2 |
Cele przedmiotu
| KOD | Cel modułu/przedmiotu |
|---|---|
| C-1 | Students become acquainted with control system design methods for complex mechanical systems as multivariable nonlinear plants |
Treści programowe z podziałem na formy zajęć
| KOD | Treść programowa | Godziny |
|---|---|---|
| projekty | ||
| T-P-1 | Design project in groups of two people. Project Title: Synthesis of the control system for the two-link manipulator performing the asymptotic tracking of a time-dependent output trajectory Project Stages: Nonlinear state space model of the plant, linearization by the state feedback, linear control system performing the asymptotic tracking, simulation model, simulation studies | 15 |
| 15 | ||
| wykłady | ||
| T-W-1 | State space model of a complex mechanical system (dynamics of multilink robotic manipulator in the joints space and the task space, definition of the complex mechanical system, derivation of the basic differential equation of the complex mechanical systems by using the Lagrange-Euler equation, nonlinear state space model) | 3 |
| T-W-2 | Synthesis of the control system performing the stabilization task (multivariable PD controller with the gravity compensation, analysis of the control system by means of the Lyapunov direct method and the LaSalle theorem, example of an application in robotics) | 3 |
| T-W-3 | Synthesis of the control system performing the asymptotic tracking task (input-output linearization of the one-dimensional system, asymptotic tracking in the linearized system, nonlinear state feedback linearization of the nonlinear multivariable state space model, synthesis of the control system with an affine state feedback and the linearized model, example of an application in robotics) | 6 |
| T-W-4 | Extensions (modelling the dynamics of robotic manipulators with flexible joints or flexible links, modelling the actuators in revolute and prismatic joints). Final test. | 3 |
| 15 | ||
Obciążenie pracą studenta - formy aktywności
| KOD | Forma aktywności | Godziny |
|---|---|---|
| projekty | ||
| A-P-1 | Meetings participation | 15 |
| A-P-2 | Studies of the literature | 3 |
| A-P-3 | Conceptual work and preparation of the report | 5 |
| A-P-4 | Consultancy | 2 |
| 25 | ||
| wykłady | ||
| A-W-1 | Participation in lectures | 15 |
| A-W-2 | Individual studies of the literature | 10 |
| 25 | ||
Metody nauczania / narzędzia dydaktyczne
| KOD | Metoda nauczania / narzędzie dydaktyczne |
|---|---|
| M-1 | Informative lecture |
| M-2 | Design project in small groups |
Sposoby oceny
| KOD | Sposób oceny |
|---|---|
| S-1 | Ocena formująca: Current assessment of the project work |
| S-2 | Ocena podsumowująca: Final report assessment |
Zamierzone efekty uczenia się - wiedza
| Zamierzone efekty uczenia się | Odniesienie do efektów kształcenia dla kierunku studiów | Odniesienie do efektów zdefiniowanych dla obszaru kształcenia | Odniesienie do efektów uczenia się prowadzących do uzyskania tytułu zawodowego inżyniera | Cel przedmiotu | Treści programowe | Metody nauczania | Sposób oceny |
|---|---|---|---|---|---|---|---|
| AR_1A_C35.2_W01 Student knows modelling methods of complex mechanical systems and basic methods of the control systems synthesis for such plants | AR_1A_W04 | — | — | C-1 | T-W-2, T-W-3, T-W-1 | M-1 | S-1, S-2 |
Zamierzone efekty uczenia się - umiejętności
| Zamierzone efekty uczenia się | Odniesienie do efektów kształcenia dla kierunku studiów | Odniesienie do efektów zdefiniowanych dla obszaru kształcenia | Odniesienie do efektów uczenia się prowadzących do uzyskania tytułu zawodowego inżyniera | Cel przedmiotu | Treści programowe | Metody nauczania | Sposób oceny |
|---|---|---|---|---|---|---|---|
| AR_1A_C35.2_U01 Student can create basic models of complex mechanical systems as well as synthesize the nonlinear control systems for such plants | AR_1A_U07, AR_1A_U08 | — | — | C-1 | T-P-1, T-W-3 | M-2 | S-2, S-1 |
Kryterium oceny - wiedza
| Efekt uczenia się | Ocena | Kryterium oceny |
|---|---|---|
| AR_1A_C35.2_W01 Student knows modelling methods of complex mechanical systems and basic methods of the control systems synthesis for such plants | 2,0 | Student has achieved less than 50% of credit points in all forms of assessment related to this teaching effect |
| 3,0 | Student has achieved 51-60% of credit points in all forms of assessment related to this teaching effect | |
| 3,5 | Student has achieved 61-70% of credit points in all forms of assessment related to this teaching effect | |
| 4,0 | Student has achieved 71-80% of credit points in all forms of assessment related to this teaching effect | |
| 4,5 | Student has achieved 81-90% of credit points in all forms of assessment related to this teaching effect | |
| 5,0 | Student has achieved 91-100% of credit points in all forms of assessment related to this teaching effect |
Kryterium oceny - umiejętności
| Efekt uczenia się | Ocena | Kryterium oceny |
|---|---|---|
| AR_1A_C35.2_U01 Student can create basic models of complex mechanical systems as well as synthesize the nonlinear control systems for such plants | 2,0 | Student has achieved less than 50% of credit points in all forms of assessment related to this teaching effect |
| 3,0 | Student has achieved 50-60% of credit points in all forms of assessment related to this teaching effect | |
| 3,5 | Student has achieved 61-70% of credit points in all forms of assessment related to this teaching effect | |
| 4,0 | Student has achieved 71-80% of credit points in all forms of assessment related to this teaching effect | |
| 4,5 | Student has achieved 81-90% of credit points in all forms of assessment related to this teaching effect | |
| 5,0 | Student has achieved 91-100% of credit points in all forms of assessment related to this teaching effect |
Literatura podstawowa
- Tchoń K., Muszyński R., Mathematical Methods of Automation and Robotics, Wrocław University of Science and Technology, Wrocław, 2017
- Kurdila J., Ben-Tzvi P., Dynamics and Control of Robotic Systems, John Wiley and Sons, 2020
- Slotine J-J. E., Li W., Applied Nonlinear Control, Prentice Hall, Englewood Cliffs, 1991
Literatura dodatkowa
- Lantos B., Marton L., Nonlinear Control of Vehicles and Robots, Springer-Verlag, London, 2011
- Khalil H. K., Nonlinear Systems, Prentice Hall, Upper Saddle River, 1996