The following contents will be studied while utilizing MATLAB/Simulink.
(1) Control theory includes classical control theory and modern control theory. There are also control theories of continuous systems and digital systems.
Combining them, there are 2 x 2 = 4 control theories. In this lecture, students will learn how to use them in a cross-sectional manner.
2) In robot control and automatic operation of automobiles, smooth motion is sometimes disturbed by disturbances. If we can estimate the value of disturbance, we can implement a strong control system that can cancel out the real disturbance. Learn the basics of this.
(3) Model predictive control is expected to be applied to the field of mechatronics as a control method that seeks optimal control input while making predictions. Learn its fundamentals.
(1) Control theory includes classical control theory and modern control theory. There are also control theories of continuous systems and digital systems.
Combining them, there are 2 x 2 = 4 control theories. In this lecture, students will learn how to use them in a cross-sectional manner.
2) In robot control and automatic operation of automobiles, smooth motion is sometimes disturbed by disturbances. If we can estimate the value of disturbance, we can implement a strong control system that can cancel out the real disturbance. Learn the basics of this.
(3) Model predictive control is expected to be applied to the field of mechatronics as a control method that seeks optimal control input while making predictions. Learn its fundamentals.
- Can design the basic modeling and design of continuous and digital control systems.
- Can design and application of disturbance observers.
- Can perform the simple design of model predictive control
| Problems | Total. | |
|---|---|---|
| 1. | 35% | 35% |
| 2. | 35% | 35% |
| 3. | 30% | 30% |
| Total. | 100% | - |
| Class schedule | HW assignments (Including preparation and review of the class.) | Amount of Time Required | |
|---|---|---|---|
| 1． | Guidance: What is Mechatronic Control for the Next Generation? Review how to use MATLAB/Simulink Compare simple examples of classical and modern control of continuous systems |
Re-examine the meaning of control | 90minutes |
| Solve and submit the homework using MATLAB/Simulink. | 90minutes | ||
| 2． | Create and compare models of continuous systems and digital control | Find out how to create the equation of state. | 90minutes |
| Solve and submit the homework using MATLAB/Simulink. | 90minutes | ||
| 3． | Learn state feedback control of continuous and digital systems | State feedback control should be investigated. | 90minutes |
| Solve and submit the homework using MATLAB/Simulink. | 93minutes | ||
| 4． | Learn various integral operations and servo systems for continuous and digital systems | Research servo in the appendix of the textbook or other sources. | 90minutes |
| Solve and submit the homework using MATLAB/Simulink. | 90minutes | ||
| 5． | Learn to observe continuous and digital systems | Research observers in the textbook appendix or other sources. | 90minutes |
| Solve and submit the homework using MATLAB/Simulink. | 90minutes | ||
| 6． | Learn about disturbance observers (DOBs) for continuous and digital systems | Read y the disturbance observers in the textbook. | 90minutes |
| Solve and submit the homework using MATLAB/Simulink. | 90minutes | ||
| 7． | Learn to design servo systems with disturbance observer (DOB) for continuous and digital systems | Find out what a control system with observer is. | 90minutes |
| Solve and submit the homework using MATLAB/Simulink. | 90minutes | ||
| 8． | Learn to model elastically and plastically deforming environments, as well as force control and mechanical impedance control using reaction force estimation observers (RFOBs) | Look up what a reaction force observer is in your textbook. | 90minutes |
| Solve and submit the homework using MATLAB/Simulink. | 90minutes | ||
| 9． | Learn the basics of various bilateral controls | Find out what bilateral control is. | 90minutes |
| Solve and submit the homework using MATLAB/Simulink. | 120minutes | ||
| 10． | Learn bilateral control using reaction force estimation observer (RFOB) | Develop a thorough knowledge of bilateral control. | 90minutes |
| Solve and submit the homework using MATLAB/Simulink. | 120minutes | ||
| 11． | Learn the optimal programming methods necessary to understand model predictive control | Deepen your understanding of optimal programming | 90minutes |
| Solve and submit the homework using MATLAB/Simulink. | 90minutes | ||
| 12． | Model Predictive Control without Constraints | Find out about model predictive control. | 90minutes |
| Solve and submit the homework using MATLAB/Simulink. | 120minutes | ||
| 13． | Model predictive control with constraints | Investigate control methods that include constraints. | 90minutes |
| Solve and submit the homework using MATLAB/Simulink. | 120minutes | ||
| 14． | Design of Constrained Model Predictive Control with Disturbances | Organize what you have learned so far. | 90minutes |
| Solve and submit the homework using MATLAB/Simulink. | 120minutes | ||
| Total. | - | - | 2673minutes |
Basically, the evaluation will focus on the results of quizzes or assignment reports for each lecture.
An example of the 60-point level is that the average of the evaluation results of simulation programs, etc. submitted in response to the assignment is 60 points.
While based on the above, the final evaluation will be made in light of the overall appearance of the students, including their attitude toward learning.
An example of the 60-point level is that the average of the evaluation results of simulation programs, etc. submitted in response to the assignment is 60 points.
While based on the above, the final evaluation will be made in light of the overall appearance of the students, including their attitude toward learning.
| ways of feedback | specific contents about "Other" |
|---|---|
| Feedback in the class |
Akira Shimada: Disturbance observer ,Corona-sha 2021
Akira Shimada: EE text Motion Control, Ohm-sya 2004
Akira Shimada: EE text Motion Control, Ohm-sya 2004
1) It is desirable (but not MUST) to learn how to use MATLAB/Simulink.
2) Students should learn basic control theory.
2) Students should learn basic control theory.
- In the Toyosu building, the lunch break on Tuesdays is the basic time. Whenever you are in your room. When I am not in my room, I will contact you by e-mail.
- Course that cultivates an ability for utilizing knowledge
- Course that cultivates a basic problem-solving skills
| Work experience | Work experience and relevance to the course content if applicable |
|---|---|
| Applicable | He has 18 years of R&D experience as a corporate controls engineer. |
- 4.QUALITY EDUCATION
- 7.AFFORDABLE AND CLEAN ENERGY
- 9.INDUSTRY, INNOVATION AND INFRASTRUCTURE
Last modified : Tue Aug 27 13:59:40 JST 2024