A mixture of classroom lecturing and problem work solving,
partly based on MATLAB and SIMULINK as the simulation tool. In
relation to the contents of items A and B, two course assignments
(MA1 and MA2) have to be carried out and documented in
writing.
To provide students with skills to analyze, design and implement
controllers for technical systems. The course mixes a theoretical
and applied control theory with emphasis on problem-orientation and
the use of MATLAB and SIMULINK to support the learning. Control
Theory 4 course is connected to the project in the
Interdisciplinary Project 4 (62491), where the students implement
the learned control theory into practical model – autonomous
robot.
Læringsmål:
En studerende, der fuldt ud har opfyldt kursets mål, vil kunne:
Use concepts, theory, components and methods introduced in the
course.
Develop and use mathematical models for technical systems.
Use time- and frequency-methods for stability analysis as
introduced in the course.
Design and simulate relevant controllers (as introduced in the
course) in MATLAB and SIMULINK.
Design, calculate, and simulate continuous PID-controllers, for
different technical systems.
Design and simulate digital PID-controllers with nonlinearities
in SIMULINK.
Analyze specifications, calculations and simulations, and draw
clear and relevant conclusions.
Hypothesize the reasons for differences between calculated and
simulated/actual results and discuss the hypothesis from relevant
theory or from relevant simulations and test.
Kursusindhold:
The main content is divided into two parts A and B:
A. Dynamical systems and mathematical modelling:
Description of models for technical systems, such as electrical
systems and other mixed systems. Electric circuit analogies.
Experimental modelling using frequency characteristics. Solution
methods for mathematical models, including Laplace transformation.
Time response and frequency response. Simulation and verification
of mathematical models.
B. Basic control theory in engineering:
Analysis and design of feedback systems, block diagrams and
reduction of multiple subsystems. Stability of feedback systems, in
time- and in frequency- domains. DC-motor. Fundamentals of
PID-controllers. Design of analogue- and digital-PID-controllers.
Simulations in MATLAB/SIMULINK including most common
nonlinearities.
Litteraturhenvisninger:
Norman S. Nise: Control Systems Engineering, 6th edition or later.
Supplementary notes available from CampusNet
Bemærkninger:
Control Theory 4 (62492) and Interdisciplinary Project 4 (62491)
have common examination for students taking both courses the same
semester, but the grading is separate and individual.
