Home People Schenato Teaching Control Laboratory

 

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Control Laboratory

a.a. 2017-2018

Laurea Magistrale in Ingegneria dell'Automazione

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tl_files/utenti/lucaschenato/Figure/square.png Instructor and collaborators

Prof. Luca Schenato
Phone: 049 827 7925
Office: 315 DEI/A (3rd floor)
E-mail:  ( NO luca.schenato@dei.unipd.it !!!!)
Webpage: http://automatica.dei.unipd.it/people/schenato.html
Office Hours: by email or phone


Eng. Riccardo Antonello
Phone: 049 827 7642
Office: 2nd floor DEI/A
E-mail: riccardo.antonello@dei.unipd.it
Webpage: http://www.webalice.it/riccardo.antonello/website/Home.html
Office Hours: by email or phone

Eng. Enrica Rossi
Office: 3rd floor DEI/A
E-mail: enrica.rossi@dei.unipd.it
Webpage:
Office Hours: by email or phone

 


tl_files/utenti/lucaschenato/Figure/square.png Description
Objecive of the course:
The goal of this course is to present to students all possible issues related to modeling and desing of advanced control systems via the implementation in a control laboratory of traditional control systems for industrial automation.
Synopsys:
Modeling of control systems: DC motor, DC motor with flexible joint, segway. Representation of dynamical systems: state space, transfer fucntion, ODEs, impulse response. PID design in frequency domain. Anti-windup. Overview of state-space control design: state feedback, observers, separation principle, regulator design. Feedforward and Integral control. Internal model principle for periodic signal tracking. Discrete time dynamical systems: representation. Digital control and limits: quantization, samplying period, etc. Control design by emulation and by exact discretization. LQ control: formulation, theory and main results. Root locus of LQ control for SISO systems. Design of LQ weights. Extension of LQ control to frequency shaping. The tools presented in the lectures are asked to be implemented into a real CD motor provided with a flexible joint.
 
tl_files/utenti/lucaschenato/Figure/square.png Lectures

Each lecture is provided with a link to textbook pages or PDF files.

WEEK

MONDAY

(10:30-12:15 room Ee) Labs (10:30-14:30)

TUESDAY

(Labs 8:30-12:30)

WEDNESDAY

(12:30-14:15 room De)

THURSDAY

(12:30-14:15 room Ce)

1 (26/02-1/03)

 Introduction to the course (Lecture 1)  

Representation of dynamical systems (Lecture 2). Sensor and actuator modeling (Lecture 3)  

Dominant pole approximation. Dynamic model reduction (Lecture 4)Bode and Nyquist plot. Time domain vs frequency domain performance specifications (Lecture 5)

2 (5-8/03)

 NO LECTURE   Frequency domain design and PID controllers (Lecture 6,Lecture 7)

MATLAB(laboratorio): Part I Control Toolbox (Eng. Riccardo Antonello) Room Ue

3 (12-15/03)

 Modeling of DC motor with friction,  (Lecture 8, Lecture 9, Lecture 10)
   Estimation of Friction Parameters of DC motor

SIMULINK (laboratorio): DC motor + friction/inertia estimatio (Eng. Riccardo Antonello) Room Ue

4 (19-22/03)

 LAB 0: HW & SW Apparatus 10:30-14:15 (shift 1)
LAB 0: HW & SW Apparatus 8:30-12:15 (shift 2) 
NO LECTURE NO LECTURE

5 (26-29/03)

Antiwindup (Lecture 10), Feedforward Control

 

 Fundamentals of Modern Control Theory: reachability and controllability( Lecture 11, Lecture 12) State feedback control desing: nominal tracking and robust tracking (Lecture 13)

NO LECTURE  

6 (2-5/04)

 NO LECTURE  

 Internal model principle (Lecture 14,Lecture 15)

 Observer design (Lecture 16) 

7 (9-12/04)

LAB 1: PID & State-space control design (shift 1)

 LAB 1: PID & State-space control design(shift 2)

Reduced order observer and pole placement considerations (see Lecture 13 and 16) 

Discrete time systems: representations and design via emulation (Lecture 17, Lecture 18 (corrected)) Exact discretization and control design Practical consideration of digital control ( Lecture 19)

Modeling of flexible joint 

8 (16-19/04)

 LQ Control: problem formulation and example (Lecture 20, Lecture 21)
 LQ control: Hamiltonian and properties (Lecture 22, Lecture 23)   

9 (23-26/04)

 LAB 2: digital control (shift 1)
LAB 2: digital control (shift 2)    NO LECTURE  LQ control:derivation of  Root Locus (Lecture 24) 

10 (30/04-3/05)

  NO LECTURE    LQ control: Root Locus examples (Lecture 25)
LQ control: Weight design (Lecture 26, Lecture 27, Lecture 28) 

11 (7-10/05)

 LAB 3: LQ control of flexible joint  LAB 3: LQ control of flexible joint Segway modeling: mechanical dynamics   Segway modeling: electric dynamics and sensors

12 (14-17/05)

  Intro to Segway apparatus: 10:30-12:30    Intro to Segway apparatus: 10:30-12:30 [nbsp]Industrial guest lecture: SALVAGNINI
Industrial guest lecture: Maschio-Gaspardo 

13 (21-24/05)

 LAB 4: LQ control of a Segway LAB 4: LQ control of a Segway  
  
14 (28-29/05) Make-up LAB
 Make-up LAB    

 

tl_files/utenti/lucaschenato/Figure/square.png Material
  1. Blackboard lectures
  2. PID design in frequency domain  [ notes in PDF]
  3. LQ control and Frequency Shaping [ notes in PDF]
  4. Guide for the laboratory software (MATLAB's Realtimeworshop toolbox) and hardware [PDF]
  5. Notes on DC motor modeling, flexible joint modeling, segway modeling [PDF]
  6. Guide to Segway
  7. Notes on how to write a good technical report [PDF]

 

tl_files/utenti/lucaschenato/Figure/square.png Laboratory experiments
  1. Parameter identification and PID design for a DC electric motor
  2. State-space control desing for a DC electric motor
  3. Digital control desing for a DC electric motor 
  4. LQ control design for a DC electric motor with a flexible joint


 

tl_files/utenti/lucaschenato/Figure/square.png Latex templates
  1. Templates for Lecture notes
  2. Templates for final Techicical report