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Lecturer(s)
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Hajžman Michal, Doc. Ing. Ph.D.
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Course content
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1. Field of mechatronics, its importance, mechatronical system and its components. Common types of sensors and actuators. 2. Modelling of mechatronical systems having one degree of freedom. 3. Models of mechatronical systems in time and frequency domain. The use of integral transformations. 4. Transfer function and its investigation for systems with one degree of freedom. Simple control of planar mechanisms with one degree of freedom. 5. Feedback control of mechatronical systems with one degree of freedom and corresponding applications. Proposal of the feedback parameters from the robustness point of view. 6. Active damping of vibration of systems with one degree of freedom. 7. and 8. Vibration of linear discrete systems with finite number of degree of freedom. Solution in time and frequency domain. Frequency response matrix determination. 9. Active damping of vibration of systems with finite number of degree of freedom. Feedback types. Parameter proposal of the feedback from the robustness point of view. 10. and 11. Vibration of linear continuum, modal method. Continuum discretization methods and direct numerical integration methods. 12. Active damping of linear continuum using piezoelectric sensors and actuators. 13. Application of active damping to beams, plates and shells.
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Learning activities and teaching methods
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Lecture, Practicum
- Contact hours
- 26 hours per semester
- Preparation for an examination (30-60)
- 50 hours per semester
- Undergraduate study programme term essay (20-40)
- 20 hours per semester
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| prerequisite |
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| Knowledge |
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| orient yourself in the mechanics of solid bodies at the level of the basic mechanics course of technical universities |
| have knowledge of the theory of oscillation of linear systems |
| define basic concepts from matrix calculus and linear algebra |
| knows the principles of derivation and has the basics of differential and integral calculus from the field of mathematical analysis |
| Skills |
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| build a physical and mathematical model of the mechanical part of the mechatronic system |
| implement the numerical integration of a system of ordinary nonlinear differential equations using commercial SW (MATLAB) |
| convert the mathematical model of the mechanical part of the mechatronic system into a matrix or vector form |
| analyze the modal and spectral properties of a linear oscillatory system |
| Competences |
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| N/A |
| learning outcomes |
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| Knowledge |
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| define a mathematical model of a mechatronic system |
| identify the properties of a mechatronic system |
| describe the requirements placed on the control method (feedback, feedforward) |
| orient yourself in the issue of feedback control design |
| Skills |
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| to design a suitable type of active elements and sensors with regard to the nature, dimensions and magnitude of the excitation of the mechanical system |
| build a mathematical model of a mechatronic system including feedback |
| propose a suitable control law from the point of view of control robustness |
| mathematically simulate the behavior of the resulting mechatronic system |
| Competences |
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| N/A |
| teaching methods |
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| Knowledge |
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| Lecture |
| Skills |
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| Lecture |
| Competences |
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| Lecture |
| assessment methods |
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| Knowledge |
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| Oral exam |
| Skills |
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| Oral exam |
| Competences |
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| Oral exam |
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Recommended literature
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Gawronski, Wodek K. Dynamics and control of structures : a modal approach. [1st ed.]. New York : Springer, 1998. ISBN 0-387-98527-1.
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Valášek, Michael. Mechatronika. Praha : ČVUT, 1995. ISBN 80-01-01276-X.
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