Servosystems

2nd Level of Study, 1st Year, Summer Semester

Upon successful completion of the course, students will be able to formulate linear state-space equations for selected electric drives and their subsystems. They will be capable of defining the desired behavior of a system described in the state space and, for such a system, verifying its controllability and observability, as well as designing a state-feedback controller and a state observer. Students will also be able to design, in the state-space framework, linear control structures that compensate for both measurable and unmeasurable disturbances acting on the drive system. To accomplish these tasks, students will learn to use MATLAB/Simulink software, in which they will develop simulation models of various control structures for servo drives and subsequently analyze their performance. Students will become familiar with the individual control structures covered by the course syllabus, identify the differences among them, and model them using MATLAB/Simulink. They will also be able to design controllers and evaluate their performance through analysis of acquired data. During laboratory exercises, students will apply this knowledge to the control of a mechatronic system consisting of an H-bridge and a DC motor using control interface boards and the Simulink Desktop Real-Time package. For these systems, they will implement control software using the rapid control prototyping approach. Based on selected laboratory exercises, students will prepare standard technical measurement reports, thereby developing skills in collecting and evaluating technical information, conducting basic servo-drive tests, recording data from performed analyses and tests, and preparing technical reports.

1. Introduction to state-space control theory, state-space representation, and state equations.
2. Controllability and observability of state-space systems, desired behavior of state-space systems.
3. Design of state-feedback controllers using the pole placement method, Ackermann’s formula.
4. Compensation of measurable and unmeasurable disturbances.
5. Luenberger observer, disturbance observer.
6. Controller discretization, transformation of state-feedback controllers into discrete-time form.
7. Current and torque control in electric drives, torque generation, controller synthesis.
8. Speed control in electric drives, controller synthesis.
9. Position control in electric drives, controller synthesis.
10. Fundamental principles of feedforward control, applications of feedforward compensation in speed and position control loops.
11. Drive synchronization, master-slave drive control.
12. Position and speed sensors.

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[2] František Ďurovský, Priemyselné pohony, Košice: Marcury-Smékal, 1. vydanie, 2001, 56 strán, ISBN 80-89061-07-9.

[3] Michal Málek, Pavol Makyš, Riadenie elektrických pohonov, Žilina: EDIS, 1. vydanie, 2019, 222 strán, ISBN 978-8055413341.

[4] Igor Bélai, Servopohony pre mechatronické aplikácie, Bratislava: STU v Bratislave, Fakulta elektrotechniky a informatiky, 2017, 1. vydanie, 103 strán [Online].

[5] Seung-Ki Sul, Control of Electric Machine Drive Systems, Wiley-IEEE Press, Hoboken, New Jersey, 1. vydanie, 2011, 544 strán, ISBN 978-0470590799.

[6] Norman S. Nise: Control Systems Engineering, Wiley, Hoboken, New Jersey, 6. vydanie, 2011. 944 strán, ISBN 978-0470917695

[7] Kyslan, K., Smoleň, P., Šlapák, V., a Ďurovský, F. (2023). A Nonlinear Controller for Point-to-Point Position Control. Energies, 16(17), 6339.