CFU: 9
Prerequisites
Knowledge.
Preliminary Courses
Mathematical Analysis II, Physics II, Programming I.
Learning Goals
To provide the concept of abstract system with the objectives of modeling, identification, simulation, analysis, design, realization, monitoring and control of natural and/or artificial systems. To convey basic knowledge for the unified standard input-state-output mathematical description of a variety of dynamic systems, be they mechanical, thermal, hydraulic, pneumatic, fluid dynamic, electric, electronic or electromagnetic. To provide the principal numerical methods for the simulation of a dynamic system in the Matlab/Simulink environment.
Expected Learning Outcomes
Knowledge and understanding
The training course is meant to provide students the know-how and the basic instruments necessary to analyse real systems of multiple nature, for example mechanical, electric or fluid. The student must be aware of the concept of abstract oriented system and the classification of dynamic systems; the student is expected to be able to elaborate argumentations concerning the dynamic behaviour of a system from its mathematical model. Finally, the student must develop a satisfying knowledge of simulation environments for dynamic systems, such as Matlab/Simulink.
Applying knowledge and understanding
The student must be able to model simple mechanical, electric, electromagnetic or hydraulic real systems and to represent them in the state-space. The student must also be able to realize the mathematical models in the Matlb/Simulink environment and to simulate their dynamic behaivour at the variation of inputs and initial conditions.
Course Content - Syllabus
- General concepts on dynamic systems
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Definition of abstract oriented system and classification of systems
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Introduction to the concept of state and the implicit and explicit i-s-o representations
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Linear and nonlinear systems: linearization methods for dynamic systems.
- Modeling for dynamic systems
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Modeling mechanical systems
Basic elements of a mechanical system. Motion equations of a rigid body system: the Newtonian approach. Dry friction. Mechanics of material point systems. The virtual work principle. D’Alembert’s principle. The Lagrange motion equations. Mechanic systems examples.
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Modeling electric and electromechanic systems
Basic elements of an electric system. Recalls to electric system equations. Electric system examples. Elements and equations of a DC electric motor. Examples of electromechanic systems.
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Modeling hydraulic systems
Elements of fluid properties. Recalls to the principal laws for the study of fluid motion. Basic elements of liquid-level systems with ideal liquid. Basic elements of hydraulic systems with real liquid. Examples of liquid-level systems with real liquid.
- Simulation of dynamic systems in the Matlab/Simulink environment
Elementary operations on variables. Diagram creation on Matlab. Programming basics: control structures, file scripts, and function files. Hints on numerical integration algorithms. Creation of Simulink block schemes for the representation of input-state-output models.
Readings/Bibliography
- P. Bolzern, R. Scattolini, N. Schiavoni, Fondamenti di Controlli Automatici, 3 ed., Mc Graw Hill Italia, 2008
- Lecture notes
Teaching Methods
The teacher will adopt:
- Modeling lectures for 60% ca of the total teaching hours
- Simulation lectures in the Matlab/Simulink environment for 30% ca of the total teaching hours
- Classroom exercises for 10% ca of the total teaching hours
Examination/Evaluation criteria
Exam type
Written and oral.
The written exam consists of one or more exercises of dynamic system modeling. The oral exam, besides the verification of the theorical contents of the course, includes the verification of good knowledge of the Matlab/Simulink simulation code.
Evaluation pattern
The results of the written test are binding for the access to the oral test. The written and oral tests contribute 50% each to the final exam evaluation; therefore, the passing of the written test is not a sufficient condition for the passing of the global exam.