| School/Faculty/Institute |
Graduate School |
| Course Code |
MECH 501 |
| Course Title in English |
Mechatronic Systems Modeling and Control |
| Course Title in Turkish |
Mekatronik Sistem Modelleme ve Kontrol |
| Language of Instruction |
EN |
| Type of Course |
Lecture |
| Level of Course |
Advanced |
| Semester |
Spring |
| Contact Hours per Week |
| Lecture: 3 |
Recitation: - |
Lab: - |
Other: - |
|
| Estimated Student Workload |
343 hours per semester |
| Number of Credits |
7.5 ECTS |
| Grading Mode |
Standard Letter Grade
|
| Pre-requisites |
None |
| Expected Prior Knowledge |
Basic knowledge of electric and electronic engineering |
| Co-requisites |
None |
| Registration Restrictions |
Only Graduate Students |
| Overall Educational Objective |
To learn the principles of analog control engineering such as system modeling in time and frequency domains, time response, stability, root locus, and state space design.
|
| Course Description |
The objective of this course is to provide the student with an introduction to modeling, analysis, simulation and control of mechatronics systems. Computer modeling and mathematical representation of mechanical, electrical, hydraulic, thermal, and electronic systems or combinations of these. The following topics will be emphasized: System modeling and analysis of linear time-invariant systems in time, Laplace, frequency domain, and state-space methods; time response; block diagram reduction; stability analysis using the Routh-Hurwitz and Root Locus techniques; system model conversions; system analysis with initial conditions and general form inputs; state variable feedback controller design. Computer-aided tools such as MATLAB and Simulink will be used throughout the course, and laboratory practice is included. |
| Course Description in Turkish |
Bu dersin amacı öğrenciye mekatronik sistemlerin modellenmesi, analizi, simülasyonu ve kontrolüne giriş sağlamaktır. Mekanik, elektrik, hidrolik, termal ve elektronik sistemlerin veya bunların kombinasyonlarının bilgisayar modellemesi ve matematiksel gösterimi üzerinde durulacaktır. Aşağıdaki konular vurgulanacaktır: Zaman içinde doğrusal zamanla değişmeyen sistemlerin sistem modellemesi ve analizi, Laplace, frekans domeni ve durum-uzay çözümü; zaman yanıtı; blok diyagramı indirgeme; Routh-Hurwitz ve Root Locus tekniklerini kullanarak kararlılık analizi; sistem modeli dönüşümleri; başlangıç koşulları ile sistem analizi; durum değişken geri beslemeli kontrolör tasarımı. Ders boyunca MATLAB ve Simulink gibi bilgisayar destekli araçlar kullanılacak ve laboratuvar uygulamaları yapılacaktır. |
Course Learning Outcomes and Competences
Upon successful completion of the course, the learner is expected to be able to:
1) identify, analyze, formulate and solve problems on block diagram modeling and setting their mathematical model as ordinary differential equations, Laplace transform, frequency domain, and state-space representations;
2) identify, analyze, formulate and solve problems applying the mesh analysis for linear, time-invariant mechanical systems of multiple degrees of freedom to obtain the state-space model;
3) identify, analyze, formulate and solve problems on time response behavior of second-order systems, apply stability analysis, and design PID controllers using MATLAB Control Systems Toolbox and Simulink;
4) design and simulate a PID control system for a real-life application;
5) communicate and collaborate on a project team, setting goals, accomplishing tasks, and meeting deadlines, professionally write its final report and defend it orally;
6) self-learn and apply new knowledge by his/her own means as a valuable life-long learning skill.
|
| Program Learning Outcomes/Course Learning Outcomes |
1 |
2 |
3 |
4 |
5 |
6 |
| 1) |
|
|
|
|
|
|
| 2) |
|
|
|
|
|
|
| 3) |
|
|
|
|
|
|
| 4) |
|
|
|
|
|
|
| 5) |
|
|
|
|
|
|
| 6) |
|
|
|
|
|
|
| 7) |
|
|
|
|
|
|
| 8) |
|
|
|
|
|
|
| 9) |
|
|
|
|
|
|
| 10) |
|
|
|
|
|
|
Relation to Program Outcomes and Competences
| N None |
S Supportive |
H Highly Related |
| |
|
|
| |
Program Outcomes and Competences |
Level |
Assessed by |
| 1) |
|
H |
Exam,HW,Participation,Project
|
| 2) |
|
H |
Project
|
| 3) |
|
H |
Project
|
| 4) |
|
S |
Project
|
| 5) |
|
N |
|
| 6) |
|
N |
|
| 7) |
|
S |
Project
|
| 8) |
|
S |
Project
|
| 9) |
|
S |
Project
|
| 10) |
|
N |
|
| Prepared by and Date |
DANTE DORANTES , January 2023 |
| Course Coordinator |
DANTE DORANTES |
| Semester |
Spring |
| Name of Instructor |
Prof. Dr. DANTE DORANTES |
Course Contents
| Hafta |
Konu |
| 1) |
Introduction. Block Diagram Modeling of Physical Systems. |
| 2) |
System Modeling Techniques: Ordinary Differential Equations (ODE), Transfer Function (TF), Frequency Domain & State-Space (SS). Solving Laplace Transform using MATLAB. |
| 3) |
MISO DC motor model. Transfer functions & Bode plots. Modeling with oper. amplifiers. |
| 4) |
Motor constants. Equivalent moment/moment of inertia/viscous damping. Linearization. |
| 5) |
The Mesh Analysis Technique. |
| 6) |
The Mesh Analysis Technique. MATLAB Plotting, transfer functions, and State Space. |
| 7) |
Arithmetic operations, vectors, solving polynomials in MATLAB. Time response concepts. |
| 8) |
Time Response of system elements. Performance Criteria. System identification. |
| 9) |
The PID controller analysis and controller tuning. |
| 10) |
LTI Viewer. Reduction of Block Diagrams. TF-SS & SS-TF conversions. Initial Conditions. |
| 11) |
PID Tuning in MATLAB. Simulink model of PID controller & plant. |
| 12) |
Stability Analysis via Routh-Hurwitz. |
| 13) |
Stability Analysis via Root Locus. Signal Flow Graphs and the State-Variable Feedback Design Method (Pole Placement), Controllability. |
| 14) |
The State-Variable Feedback Design Method. |
| 15) |
Project Presentation period. |
| 16) |
Project Presentation period. |
| Required/Recommended Readings | Control Systems Engineering, International Student Version, Norman S. Nise, 6th Edition, Wiley, 2011 (textbook)
Other reference:
System Dynamics, William J. Palm, 4th Edition, McGraw-Hill, 2021 (reference)
Modern Control Engineering, Katsuhiko Ogata, 5th Edition, Pearson, 2009 |
| Teaching Methods | Flipped Learning/Lecture/Laboratory Work/Project/Guided Personal Study
|
| Homework and Projects | Design of a PID position/velocity control system using MATLAB Control Tool Box and Simulink |
| Laboratory Work | None |
| Computer Use | Compulsory computer-aided problem-solving using MATLAB Control Toolbox and Simulink. |
| Other Activities | None |
| Assessment Methods |
| Assessment Tools |
Count |
Weight |
| Uygulama |
10 |
% 10 |
| Küçük Sınavlar |
12 |
% 10 |
| Ödev |
4 |
% 20 |
| Projeler |
1 |
% 30 |
| Final |
1 |
% 30 |
| TOTAL |
% 100 |
|
| Course Administration |
dorantesd@mef.edu.tr
0212 395 36 40
office hours: Monday 18:00-19:00
email address: dorantesd@mef.edu.tr
Rules for attendance: Attendance is taken during Flipped Classroom Practice. A minimum of 70% of attendance is mandatory.
Rules for Flipped Classroom Practice: Missed Flipped Classroom Practice (FCP) will be given a zero grade. Participation quizzes with flaws or lack of individual collaboration attitude during teamwork will be given a grade of one. Successful participation quizzes and individual collaboration attitudes will be given a grade of two. FCP activities are conducted during online class time (20-40 min), by solving a similar previously solved exercise, but working in randomly formed teams, and emailing their solution scanned pdf file using CamScanner application by the end of the class. The FCP evidence will be the only way to count student class attendance.
Rules for late submission of project or assignment: It will be discounted 50/100 for each delayed day.
Rules for missing a midterm: Provided that a valid official justification approved by the university and presented, a make-up midterm will be granted one week immediately after the regular midterm date.
Minimum grade to be allowed to pass the course (FZ): Satisfactory Flipped Classroom Practice, Midterms, Assignments, and Project grades, as well as at least 70% attendance, are mandatory to be allowed to pass the course.
A reminder of proper classroom behavior, code of student conduct: YÖK Regulations
Statement on plagiarism: YÖK Regulations http://www.mef.edu.tr/Yonetmelikler
|