Motion Control

Course title

Y0133050

Motion Control

Click to show questionnaire result at 2019

Course description

Motion control is the katakana form of the English word for motion control. Although the meaning of the word is very broad, this course focuses on motion control of mechanical systems such as robots driven by electric motors, and teaches comprehensive and practical control techniques. In other words, students will learn practical control methods by utilizing the fundamentals they have learned in control engineering. Specifically, students learn the basics of modern control theory, disturbance observers, and servo motors with a review of classical control.

Purpose of class

The objective of this course is to master the following three points.
1) To acquire control system design methods using both classical and modern control theories.
2) To learn how to design and utilize disturbance observers, which are synonymous with motion control.
3) Learn how to drive DC and AC servo motors.

Goals and objectives

Able to design simple control systems using classical and modern control theory
Able to perform the simple design of disturbance observers
Able to understand the driving principle of DC and AC servo motors
Able to simulate using MATLAB/Simulink.

Relationship between 'Goals and Objectives' and 'Course Outcomes'

	Problems	Total.
1.	35%	35%
2.	15%	15%
3.	10%	10%
4.	40%	40%
Total.	100%	-

Language

Japanese(English accepted)

Class schedule

	Class schedule	HW assignments (Including preparation and review of the class.)	Amount of Time Required
1.	Motion Control and Control Theory 1) Review of classical control and its connection to modern control 2) How to use MATLAB/Simulink	Review classical control theory. Those who have not taken the course should study it as much as possible.	90minutes
1.		Solve and submit the homework using MATLAB/Simulink.	90minutes
2.	Fundamentals of DC motors and modern control theory: Learn the equation of state and create a mathematical model of a DC motor	Learn the basics of DC motors in Chapter 3 of the textbook and elsewhere.	90minutes
2.		Solve and submit the homework using MATLAB/Simulink.	90minutes
3.	Torque control of a DC motor as an example Learn the relationship between the transfer function and the equation of state.	Prepare the relatio between Transfer Function and State Equation via the textbook.	90minutes
3.		Solve and submit the homework using MATLAB/Simulink.	90minutes
4.	State feedback control using the cart model	Prepare for state feedback.	90minutes
4.	State feedback control using the cart model	Solve and submit the homework using MATLAB/Simulink.	90minutes
5.	Controllability and observability, coordinate transformation and pole assignment methods	Prepare Controllable and Observable via the textbook.	90minutes
5.		Solve and submit the homework using MATLAB/Simulink.	90minutes
6.	LQ control and observer	Read the textbook about LQ control and observers.	90minutes
6.	LQ control and observer	Solve and submit the homework using MATLAB/Simulink.	90minutes
7.	Disturbance observer design with classical control	Prepare for disturbance observers.	90minutes
7.	Disturbance observer design with classical control	Solve and submit the homework using MATLAB/Simulink.	90minutes
8.	Disturbance observer design with modern control	Read the text about disturbance observers.	90minutes
8.	Disturbance observer design with modern control	Solve and submit the homework using MATLAB/Simulink.	120minutes
9.	Servo system design using the pole assignment method and the LQ design method	Prepare for servo systems.	90minutes
9.		Solve and submit the homework using MATLAB/Simulink.	120minutes
10.	Fundamentals of Digital Control	Examine the digital control.	90minutes
10.	Fundamentals of Digital Control	Solve and submit the homework using MATLAB/Simulink.	120minutes
11.	Digital Disturbance Observer Design Method	Digital disturbance observers should be investigated.	90minutes
11.	Digital Disturbance Observer Design Method	Solve and submit the homework using MATLAB/Simulink.	100minutes
12.	AC Servo Motor Basics alpha-beta and dq transforms	Look into AC servo motors and conversions.	90minutes
12.	AC Servo Motor Basics alpha-beta and dq transforms	Solve and submit the homework using MATLAB/Simulink.	100minutes
13.	Vector control method for AC servo motors	Vector control methods should be investigated.	90minutes
13.	Vector control method for AC servo motors	Solve and submit the homework using MATLAB/Simulink.	100minutes
14.	Control of mechanical systems with AC servo motors	Thoroughly review the total review.	240minutes
Total.	-	-	2700minutes

Evaluation method and criteria

Assignment reports or simulation results for each lecture will be used for evaluation.
An example of the 60-point level is the average score of the assignment.

Feedback on exams, assignments, etc.

ways of feedback	specific contents about "Other"
授業内と授業外でフィードバックを行います。

Textbooks and reference materials

Textbooks: Akira Shimada: Disturbance Observer (Corona)
Reference book: Akira Shimada (et.al.): IEEJ EE Textbook Motion Control (Ohmsha)

Prerequisites

It is desirable that students have already taken Control Engineering.

Office hours and How to contact professors for questions

Based on Thursday's lunch break. Contact by email.

Regionally-oriented

Non-regionally-oriented course

Development of social and professional independence

Course that cultivates an ability for utilizing knowledge

Active-learning course

About half of the classes are interactive

Course by professor with work experience

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.

Education related SDGs:the Sustainable Development Goals

4.QUALITY EDUCATION
7.AFFORDABLE AND CLEAN ENERGY
9.INDUSTRY, INNOVATION AND INFRASTRUCTURE

Last modified : Tue Sep 17 18:17:57 JST 2024