


Politecnico di Torino  
Academic Year 2009/10  
01FPNDS Control of mechanical systems 

Master of sciencelevel of the Bologna process in Mechanical Engineering  Vercelli 





Objectives of the course
The course has the aim to provide the tools needed to analyse mechanical systems in order to design their control algorithms. The main techniques for the simulation of systems are shown, as well as those for the development of the corresponding mathematical models.
Traditional control techniques (P, PI, PID), stability analysis and evaluation of static and dynamic performance are introduced analysing different controlled system, such as a servosystem for a gear shift, a phase variator for an internal combustion engine, a flight simulator. Fuzzy logic is introduced as a non conventional alternative for the control of complex systems. Eventually the most important hardware component for the industrial application of the techniques are described. 
Expected skills
Analysis of a control system, evaluation of static and dynamic performance of regulation, set up of the classical control laws.

Prerequisites
Applied mechanics

Syllabus
Introduction to the regulation of mechanical systems: Laplace transforms, block diagrams, transfer functions, I and II order systems, step response, frequency response.
Simulation of mechanical systems: aims, analytical and numerical techniques. Lumped parameters modelling.. Multibody techniques. Examples in Matlab/Simulink environment. Feedback, position error, velocity error. Proportional, integralproportional and proportionalintegralderivative feedback control. Stability and passband. Stability analysis using the Bode diagram. Fuzzy logic: general principles, definitions, inference algorithm, application examples. Hardware components to setup the described control techniques. 
Laboratories and/or exercises
Room exercises about the topics discussed in the classes as well as laboratory work for the computer simulation of controlled systems. Laboratory activity for the experimentation on controlled systems will be carried out, during which data will be acquired and static and dynamic performance will be evaluated.

Bibliography
Jacazio G., Piombo B.: 'Meccanica Applicata alle Macchine, vol. III, Regolazione e servomeccanismi', Levrotto&Bella

Revisions / Exam
The exam is oral and it considers the programs of classes and exercises. The presentation and discussion of the results obtained in the exercises will be evaluated.

