1. SylabUZ
2. Faculty of Computer Science, Electrical Engineering and Automatics
3. winter term 2018/2019
4. WIEiA - oferta ERASMUS / Automatic Control and Robotics - First-cycle Erasmus programme
5. Precision drives and industrial robots

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Precision drives and industrial robots - course description

Aim of the course

• formation of basic skills in the selection of open and closed systems for speed, torque and position control,
• to familiarize students with the servo motors used in robots and robotic systems.

Prerequisites

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Engineering physics, Electrical engineering principles, Electronics principles, Control engineering, Control of electrical drives

Scope

Servomotors used in robots and robot systems. DC motors (conventional and disc), synchronous motors permanent magnet and reluctance, step motors and asynchronous. Power electronic converter servo drives.
Control methods of electric drives. Scalar control. Field oriented control. Direct torque control. Sensorless control. 
Open and closed loop control of speed, torque and position. Realization of four-quadrant direct and alternating current drives. Follow-up and position servo drives, precise drives. Robot drives. Sensor systems of robots. 
 

Teaching methods

Lecture, laboratory exercises.

Learning outcomes and methods of theirs verification

Outcome description	Outcome symbols	Methods of verification	The class form

Assignment conditions

Lecture - positive score of tests
Laboratory – positive scores concerning all laboratory tasks
Final score composition = Lecture: 50% + Laboratory: 50%

Recommended reading

1. Kaźmierkowski M. P., Tunia H.: Automatic Control of Converter-Fed Drives, Warsaw - Amsterdam - New York - Tokyo: PWN-ELSEVIER SCIENCE PUBLISHERS, 1994.
2. Kaźmierkowski M. P., Blaabjerg F., Krishnan R.: Control in Power Electronics, Selected Problems, Elsevier 2002.
3. Boldea I.,  Nasar S.A, Electric Drives, CRC Press, 1999.
4. Kaźmierkowski M. P. and Orłowska-Kowalska T.: Neural Network estimation and neuro-fuzzy control in converter-fed induction motor drives, Chapter in Soft Computing in Industrial Electronics, Springer-Verlag, Heidelberg, 2002.
5. Leonhard W.: Control of Electrical Drives, Springer, Berlin, New York, 2001.
6. Miller T.J.E.: Brushless Permanent-Magnet and Reluctance Motor Drives, Oxford University Press, Oxford, England, 1989.
7. Ryoji O.: Intelligent sensor technology, John Willey & Sons, 1992.
8. Samson C., Le Borgne M., Espinau B.: Robot control. Oxford University Press, 1991.
9. Canudas C., Siciliano B., Bastin G.: Theory of robot control. Springer Verlag, 1996.

 

Further reading

Notes

Modified by dr hab. inż. Wojciech Paszke, prof. UZ (last modification: 01-05-2020 17:21)