1. SylabUZ
2. Wydział Informatyki, Elektrotechniki i Automatyki
3. semestr zimowy 2020/2021
4. Automatyka i robotyka - Program Erasmus pierwszego stopnia
5. Precision drives and industrial robots

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Precision drives and industrial robots - opis przedmiotu

Cel przedmiotu

• 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.

Wymagania wstępne

Zapisz zmiany

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

Zakres tematyczny

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. 
 

Metody kształcenia

Lecture, laboratory exercises.

Efekty uczenia się i metody weryfikacji osiągania efektów uczenia się

Opis efektu	Symbole efektów	Metody weryfikacji	Forma zajęć

Warunki zaliczenia

Lecture – the main condition to get a pass are sufficient marks in written or oral tests conducted at least once per semester.

Laboratory – the passing condition is to obtain positive marks from all laboratory exercises to be planned during the semester.

Calculation of the final grade: lecture 60% + laboratory 40%

Literatura podstawowa

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.

 

Literatura uzupełniająca

Uwagi

Zmodyfikowane przez dr hab. inż. Wojciech Paszke, prof. UZ (ostatnia modyfikacja: 05-05-2020 08:09)