Signals and Mechatronic Systems

Objectives

Theoretical and laboratorial instruction in modelling and performance analysis, in time and frequency, of dynamical systems continuous in time.

Program

Analogical systems. Static, dynamical and deterministic systems. Laplace and Fourier transforms. Transfer function representation of SISO dynamical systems. Modelling of dynamic systems as energy converters: flow, effort, accumulators, dissipators. Application to mechanical, electrical, fluidic and thermal systems: analogies. Block diagram algebra. Analysis of dynamical systems of firstorder, second order, with zeros, higher order, of minimum and non-minimum phase, stable and unstable, and system reduction.Routh-Hurwitz stability criterion. Time responses: impulse, step, ramp. Frequency responses: Bode and polar diagrams. Sensors:position (linear and angular), velocity, acceleration, proximity, force, torque, flow, level, temperature. Actuators in a control loop:servomotors, pneumatic actuators. Linearisation and point of interest. Actuation chain and measuring chain. AD/DA conversion.Filters and signal conditioning.

Teaching Methodologies

Written evaluation with one written examination (50%), and four (4) laboratory works (50%). Minimum grade of 9.5 on each of the evaluation components.

Bibliography

“Mechatronics, a foundation course”, Clarence de Silva, 2010, CRC; “Control Systems Engineering”, Norman Nise, 2011, Wiley;“Feedback Control of Dynamic Systems”, Gene F. Franklin, J. David Powell, Abbas Emami-Naeini, 2015, Pearson Education Limited.;“Modern Control Engineering”, K. Ogata, 2010, 5th Edition, Prentice Hall; “Automatic Control Systems”, Golnaraphi, Kuo, 2010,Wiley