2. Professors
  3. PAPPALARDO Carmine Maria
  4. Teaching

DYNAMICS, IDENTIFICATION AND CONTROL OF MECHANICAL SYSTEMS

Carmine Maria PAPPALARDO DYNAMICS, IDENTIFICATION AND CONTROL OF MECHANICAL SYSTEMS

0623000002
DIPARTIMENTO DI INGEGNERIA INDUSTRIALE
EQF7
SMART INDUSTRY ENGINEERING
2021/2022

OBBLIGATORIO
YEAR OF COURSE 1
YEAR OF DIDACTIC SYSTEM 2021
AUTUMN SEMESTER
CFUHOURSACTIVITY
660LESSONS
CARMINE MARIA PAPPALARDO T Curriculum
Objectives
KNOWLEDGE AND UNDERSTANDING SKILLS: THE COURSE AIMS TO PROVIDE STUDENTS WITH THE BASIC CONCEPTS AND THE SIMULATION TOOLS TO UNDERSTAND AND CONTROL MECHANICAL SYSTEMS, NAMELY MACHINES AND MECHANISMS, USED IN MECHANICAL ENGINEERING. TO THIS END, REFERENCE IS MADE TO TYPICAL INDUSTRIAL PROBLEMS AND SOLUTION APPROACHES FOUND IN PRACTICAL APPLICATIONS. THE COURSE FOCUSES ON THE FUNDAMENTAL ENGINEERING TOOLS IN THE SIMULATION AND DYNAMIC ANALYSIS OF ARTICULATED MECHANICAL SYSTEMS, AS WELL AS ON THE ESSENTIAL ASPECTS INVOLVED IN THE SYNTHESIS OF EFFECTIVE CONTROL LAWS. THE KEY ASPECTS OF THE PROCEDURE USED IN THE COURSE ARE AS FOLLOWS: (A) SIMPLIFIED DERIVATION OF THE EQUATIONS OF MOTION OF A MECHANICAL SYSTEM OF INTEREST AND THEIR SUBSEQUENT LINEARIZATION AROUND ASSIGNED CONFIGURATIONS AND/OR TRAJECTORIES; (B) COMPUTER IMPLEMENTATION OF DYNAMIC MODELS OF A MECHANICAL SYSTEM BASED ON THE MULTIBODY APPROACH USING DEDICATED SIMULATION SOFTWARE; (C) ANALYTICAL AND SEMI-EMPIRICAL DEVELOPMENT OF AN APPROPRIATE CONTROL STRATEGY HAVING DIFFERENT DEGREES OF COMPLEXITY; (D) CHOICE OF A SET OF SENSOR AND ACTUATION SYSTEMS FOR THE PRACTICAL IMPLEMENTATION OF THE SELECTED CONTROL STRATEGY; (E) SIMULATION AND TESTING OF THE DESIGNED CONTROL SYSTEM IN A THREE-DIMENSIONAL COMPUTERIZED ENVIRONMENT EMPLOYING THE VIRTUAL DYNAMICAL MODEL OF THE MECHANICAL SYSTEM UNDER CONSIDERATION.
ABILITY TO APPLY KNOWLEDGE AND UNDERSTANDING: THE EXAMPLES PROPOSED TO THE COURSE, THE EXERCISES ASSIGNED AS HOMEWORK, AND THE APPLICATION SHOWN DURING THE LECTURES PROPOSE REPEATED HINTS TO APPLY THE METHODOLOGIES LEARNED DURING THE ENTIRE COURSE. AFTER THE COURSE, STUDENTS WILL BE ABLE TO DERIVE A VIRTUAL MODEL OF A COMPLEX MECHANICAL SYSTEM EMPLOYED IN INDUSTRIAL ENGINEERING APPLICATIONS, SUCH AS MACHINES AND MECHANISMS COMPOSED OF ARTICULATED RIGID ELEMENTS, AS WELL AS TO DESIGN THE FUNCTIONAL LOGIC OF A CONTROL LAW THAT CAN BE ACTUALLY IMPLEMENTED, PAYING PARTICULAR ATTENTION TO THE REAL COMPONENTS INVOLVED IN THIS PROCESS, SUCH AS THE MINIMAL SET OF SENSORS AND ACTUATORS NECESSARY FOR THE PRACTICAL IMPLEMENTATION.
AUTONOMY OF JUDGMENT: THE COURSE IS ORIENTED TO STIMULATE AUTONOMOUS JUDGMENT GAINED BY THE STUDENTS, PARTICULARLY ON THE COMPARISON BETWEEN ENGINEERING SOLUTIONS IN COMPUTER-AIDED DYNAMIC MODELING AND CONTROL DESIGN OF ORIGINAL SOLUTIONS FOR THE TYPICAL MACHINE MECHANICS PROBLEMS FOUND IN THE INDUSTRY.
COMMUNICATION SKILLS: STUDENTS ARE ASKED TO PRESENT AND DISCUSS THEIR SOLUTION TO THE PROBLEM PROPOSED AS THE MAIN OBJECT OF THE FINAL EXAM OF THE CURRENT YEAR. THE COURSE ALSO REQUIRES A FINAL ORAL EXAM ON THE THEORETICAL METHODOLOGIES USED TO SOLVE THE THEMATIC PROJECT BOTH IN TERMS OF THE MODEL OF THE DYNAMIC SYSTEM UNDER EXAMINATION AND THE PROCEDURAL DESIGN OF THE CONTROL STRATEGY.
LEARNING SKILLS: CONSIDERING THE RAPID TECHNOLOGICAL PROGRESS, THE COURSE AIMS TO TRANSFER FUNDAMENTAL LEARNING SKILLS TO THE STUDENTS, AS WELL AS TO APPLY AND UPDATING THE KNOWLEDGE ACQUIRED TO CONTEXTS DIFFERENT FROM THOSE PRESENTED DURING THE LECTURES. FOR INSTANCE, ONCE THE OPERATING LOGIC IS ACQUIRED, THE STUDENTS WILL BE ABLE TO USE OTHER MULTIBODY MODELING TOOLS AND CONTROL TECHNIQUES TO SYNTHESIZE CONTROL SYSTEMS USING DIFFERENT CONFIGURATIONS OF SENSORS AND ACTUATORS.
Prerequisites
BASIC KNOWLEDGE OF THE FOLLOWING SUBJECTS IS REQUIRED FOR THE ACHIEVEMENT OF THE TRAINING OBJECTIVES:
1. LINEAR ALGEBRA.
2. INFINITESIMAL CALCULUS.
3. ELEMENTS OF MECHANICS PROVIDED IN THE BASIC PHYSICS COURSE.
4. FUNDAMENTALS OF COMPUTER SCIENCE AND MATLAB PROGRAMMING.
Contents
THE DURATION OF THE COURSE IS 60 HOURS, OF WHICH 30 HOURS OF THEORY AND 30 HOURS OF EXERCISE AND PRACTICE.
1. INTRODUCTION TO THE DYNAMICS AND CONTROL OF ARTICULATED MECHANICAL SYSTEMS. (3 HOURS, 3 THEORY + 0 EXERCISE)
2. RECALLS OF LINEAR ALGEBRA. (3 HOURS, 2 THEORY + 1 EXERCISE)
3. BASIC ELEMENTS OF MECHANISMS: 2D AND 3D RIGID BODY KINEMATICS. (7 HOURS, 5 THEORY + 2 EXERCISE)
4. NEWTONIAN AND LAGRANGIAN APPROACHES TO THE DYNAMICS OF 2D AND 3D RIGID BODIES. (4 HOURS, 4 THEORY + 0 EXERCISE)
5. MULTIBODY TECHNIQUES FOR THE DERIVATION OF THE EQUATIONS OF MOTION OF ARTICULATED MECHANICAL SYSTEMS. (6 HOURS, 4 THEORY + 2 EXERCISE)
6. FROM THE SECOND-ORDER CONFIGURATION-SPACE REPRESENTATION TO THE FIRST-ORDER STATE-SPACE REPRESENTATION OF THE EQUATIONS OF MOTION. (4 HOURS, 2 THEORY + 2 EXERCISE)
7. CLASSICAL CONTROL METHODS AND MODERN CONTROL TECHNIQUES. (8 HOURS, 4 THEORY + 4 EXERCISE)
8. PRACTICAL EXAMPLES OF PID CONTROLLERS APPLIED TO ACTUATED MECHANICAL SYSTEMS AND MACHINES GROUPS. (6 HOURS, 0 THEORY + 6 EXERCISE)
9. ELEMENTS OF MACHINE LEARNING FOR IDENTIFICATION AND CONTROL ENGINEERING APPLICATIONS. (4 HOURS, 4 THEORY + 1 EXERCISE)
10. ELEMENTS OF MATLAB-SIMULINK PROGRAMMING. (3 HOURS, 0 THEORY + 3 EXERCISE)
11. INTRODUCTION TO SIMSCAPE AND MULTIBODY SIMULATION. (8 HOURS, 0 THEORY + 8 EXERCISE)
12. DESIGN AND DEVELOPMENT OF THE FINAL PROJECT. (3 HOURS, 0 THEORY + 3 EXERCISE)
Teaching Methods
CLASSES IN THE CLASSROOM AND/OR AT A DISTANCE: THE LECTURES WILL BE HELD USING SLIDES AND/OR NOTES IN ENGLISH. SOME LECTURES WILL INVOLVE THE USE OF A COMPUTER AND A MULTIBODY SIMULATION PROGRAM.
EXERCISES AND SIMULATIONS TO BE CARRIED OUT BOTH BY HAND AND USING THE COMPUTER. WHILE ABOUT 60% OF THE COURSE TIME WILL BE DEVOTED TO THE THEORETICAL LECTURES, ABOUT 40% OF THE CLASSROOM TIME WILL BE DEDICATED TO EXERCISES AND SOLVING THE PROBLEMS RELATED TO THE FINAL PROJECT WORK TO BE CARRIED OUT USING A MULTIBODY SIMULATION PROGRAM. LABORATORY EXERCISES WILL BE ALSO CARRIED OUT CONCERNING THE ANALYSIS AND THE CONTROL OF SIMPLE AND RELATIVELY MORE COMPLEX MECHANICAL SYSTEMS.
Verification of learning
THE EXAMINATION INVOLVES THE DISCUSSION OF A FINAL WORK, INSTEAD OF A CLASSIC WRITTEN TEST, AND THERE IS ALSO A MANDATORY ORAL TEST. ACCESS TO THE ORAL TEST IS NOT SUBJECT TO PASSING THE FINAL PROJECT’S DISCUSSION, WHICH, HOWEVER, IS COMPULSORY TO PASS THE ENTIRE EXAM. THE MINIMUM GRADE (18/30) IS ACHIEVED BY DEMONSTRATING ADEQUATE KNOWLEDGE OF ALL THEORETICAL ASPECTS OF THE SUBJECT AND DEVELOPING AT LEAST A COMPLETE SUBSET OF THE FINAL PROJECT. THE MAXIMUM GRADE (30/30) IS AWARDED TO THE STUDENT WHO DEMONSTRATES EXCELLENT KNOWLEDGE OF ALL ASPECTS OF THE TOPICS ADDRESSED IN THE COURSE, BOTH DURING THE DISCUSSION OF THE FINAL PROJECT AND DURING THE ORAL EXAMINATION. PRAISE IS AWARDED TO THE CANDIDATE WITH A COMPLETE AND SIGNIFICANT MASTERY OF THE THEORETICAL AND APPLICATIVE CONTENTS OF THE COURSE, AS WELL AS A HIGH LEVEL OF LANGUAGE SKILLS, SYNTHESIS SKILLS, AUTONOMOUS PROCESSING SKILLS, AND ABILITY TO EXTEND TO INDUSTRIAL AREAS OTHER THAN THOSE TAKEN INTO CONSIDERATION DURING THE COURSE.
STUDENTS WILL HAVE TO DEVELOP SOME HOMEWORK, WHICH WILL BE EVALUATED AND WILL INFLUENCE THE FINAL SCORE. THE FINAL EVALUATION OF THE ACHIEVEMENT OF THE SET OBJECTIVES TAKES PLACE THROUGH TWO CONSECUTIVE STEPS, NAMELY THE PRELIMINARY DISCUSSION OF AN ALL-INCLUSIVE PROJECT ASSIGNED AT THE BEGINNING OF THE COURSE AND A SUBSEQUENT ORAL EXAMINATION SPECIFICALLY DEDICATED TO DISCUSSING THE THEORETICAL PART OF THE COURSE.
THE FINAL WORK IS POSITIVELY EVALUATED BASED ON THE FOLLOWING ASPECTS: THE ORIGINALITY AND VERSATILITY OF THE SOLUTION IDENTIFIED FOR THE PROBLEM DURING THE DESIGN PHASE; THE METHODOLOGICAL PRECISION IN THE DEFINITION OF THE PROBLEM ON THE MODEL LEVEL OF THE DYNAMIC SYSTEM UNDER EXAMINATION; THE COMPLETENESS AND CORRECTNESS OF THE MECHANICAL SOLUTIONS DEVISED IN THE PROJECT, AND THE EFFECTIVENESS AND EFFICIENCY OF ANY CONTROL ALGORITHM IMPLEMENTED IN THE CHOSEN SOLUTION.
Texts
HANDOUTS:
1. COURSE NOTES.
2. DIDACTIC MATERIAL PROVIDED DURING THE LESSONS.
BASIC BOOKS:
1. SHABANA, A. A., 2009, COMPUTATIONAL DYNAMICS, FOURTH EDITION, JOHN WILEY AND SONS.
2. JUANG, J. N., AND PHAN, M. Q., 2001, IDENTIFICATION AND CONTROL OF MECHANICAL SYSTEMS, CAMBRIDGE UNIVERSITY PRESS.
3. JOHNSON, M., WILKIE, J., AND KATEBI, R., 2002, CONTROL ENGINEERING - AN INTRODUCTORY COURSE, MACMILLAN INTERNATIONAL HIGHER EDUCATION.
ADVANCED BOOKS:
1. SHABANA, A. A., 2020, DYNAMICS OF MULTIBODY SYSTEMS, FIFTH EDITION, CAMBRIDGE UNIVERSITY PRESS.
2. CHELI, F., DIANA, G., 2015, ADVANCED DYNAMICS OF MECHANICAL SYSTEMS, SPRINGER.
More Information
THE COURSE IS TAUGHT IN ENGLISH.
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