The aim of this module is to develop the learners skills in modelling, analysis and simulation of linear dynamic systems, drawing on examples relevant to Mechatronics, and applying this knowledge to the design of control systems.
Foundation & tools for analysis: Modelling dynamic systems. Differential equations, Laplace transform of signals and systems, transfer functions, system stability and analysis. Computing system poles and zeros and introduction to how they influence the behaviour of a system. Transient and steady state response of linear systems. Introduction to systems with feedback. The distinction between linear and nonlinear systems. Overview of discrete time systems.
Simulation and computer based analysis: Simulation of dynamic systems. Block diagram representation of dynamic systems and manipulation of the block diagrams. The generic components of a control system. Software packages to analyse and simulate dynamic systems. Impulse and step responses. Identifying transient and steady state behaviour from simulation outputs.
System analysis and behaviour: Transient and steady state analysis. Analysis and characteristic behaviour of first, second and higher order systems. The general solutions of linear dynamic systems. The relationship between system behaviours with the location of poles and zeros in the complex plane. Case study analysis of systems regularly encountered in Mechatronics, for example electrical, power and machines, mechanical, thermal and fluid systems.
Feedback control: Design objectives of control systems; tracking, regulation, performance indices. Feedback control systems and proportional control. Analysis to determine the impact of the proportional control gain on the location of poles in low order systems. Selecting control parameters to set the rise time in first order systems and set the overshoot or damping characteristic in second order systems. Tracking, regulation and disturbance rejection.
PID control: Proportional, integral and derivative (PID) control. Analysis of PID control systems and the impact eachterm has on the behaviour of the control system. Ziegler-Nichols tuning rules. Case study examples of PID analysis and design.
Discrete time control: Discrete time dynamic systems. Overview of z transform and stability analysis of discrete time systems. Practical consideration in designing discrete time control systems.
