Course title
Y01330503
Motion Control

 shimada akira Click to show questionnaire result at 2018
Course description
Motion control treats the just control theory and technology of motion. The scope is very wide but we focus on the motion control of mechanical sytem driven by electrical motors. Thus it is perform for students to master a practical control technology with colaboration of the knowledege of instrument nd control, mechatronics, and robotics.
Purpose of class
The aim of this lecture is to master design technology based on modern control theory.
Goals and objectives
  1. To be able to design basic controller based on modern control theory.
  2. To be able to design disturbance observer
  3. To understand the principle of AC servo motors
Language
Japanese(English accepted)
Class schedule

 Class schedule HW assignments (Including preparation and review of the class.) Amount of Time Required
1. Guidance: What's motion control? Investigate the mean of motion control. 90minutes
Review the problem and submit it. 90minutes
2. State equation Prepare State Equation via the textbook. 90minutes
Review the problem and submit it. 90minutes
3. Relation between transfer function and state equation Prepare the relatio between Transfer Function and State Equation via the textbook. 90minutes
Review the problem and submit it. 90minutes
4. State feedback control Prepare State Feedback Control via the textbook. 90minutes
Review the problem and submit it. 90minutes
5. Controlable & Observable Prepare Controllable and Observable via the textbook. 90minutes
Review the problem and submit it. 90minutes
6. Coordinate tranformation and pole assignment method Prepare Coordinate Transformation and Pole Allocation Method via the textbook. 90minutes
Review the problem and submit it. 90minutes
7. LQ control Prepare LQ Control via the textbook. 90minutes
Review the problem and submit it. 90minutes
8. Observer design Prepare Observer via the textbook. 90minutes
Review the problem and submit it. 120minutes
9. Disturbance observer design Prepare Disturbance Observer via the textbook. 90minutes
Review the problem and submit it. 120minutes
10. Servo system design Prepare Servo Control via the textbook. 90minutes
Review the problem and submit it. 120minutes
11. Introduction to AC servo motors Prepare basis of AC Servo Motor. 90minutes
Review the problem and submit it. 100minutes
12. αβ conversion and ｄｑ conversion Prepare αβ conversion and ｄｑ conversion 90minutes
Review the problem and submit it. 100minutes
13. Vector control Prepare Vecor Control 90minutes
Review the problem and submit it. 100minutes
14. Examination and final summary Summarize all you learned. 180minutes
Total. - - 2640minutes
Relationship between 'Goals and Objectives' and 'Course Outcomes'

 Problems Exam Total.
1. 10% 25% 35%
2. 10% 25% 35%
3. 10% 20% 30%
Total. 30% 70% -
Evaluation method and criteria
Mainly results of the final exam. However, I consider the results of reports for each problem.
Textbooks and reference materials
Akira Shimada: EE text Motion Control, Ohmu-sha, 2004
Prerequisites
It is desirable that you have already learned Mechatronics and Measurement Control Engineering.
Office hours and How to contact professors for questions
  • it is desirable to make an appointment on Email<ashimada@sic.shibaura-it.ac.jp>
Relation to the environment
Non-environment-related course
Regionally-oriented
Non-regionally-oriented course
Development of social and professional independence
  • Course that cultivates an ability for utilizing knowledge
Active-learning course
More than one class is interactive
Course by professor with work experience
Work experience Work experience and relevance to the course content if applicatable
Applicatable Experience of development of robot controller.
Last modified : Thu Mar 21 15:17:07 JST 2019