Course title
4M998600
Advanced Motion Control

 shimada akira Click to show questionnaire result at 2018
Course content
The students are going to learn the design technology of advanced motion control system based on modeling techniques.
Specifically, It consists of digitalcontrol, Kalman filter design, and the corresponding implementation method.
Purpose of class
To master practical motion controller design
Goals and objectives
  1. To master digital control theory and it's design technique.
  2. To master digital disturbance observer.
  3. To master non-linear Kalman filter design.
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 advanced motion control? Study of basic concept of digital control.
Read Capter 1 and 6.5.1-2 of the MC text book. 		90minutes
Review the problem and submit it. 90minutes
2． Ddesign method of digital system model Prepare digital system modling.
Read 6.5.3-4 of MC. 		90minutes
Review the problem and submit it. 90minutes
3． Design method of digital controller Prepare digital controller design.
read 6.5.5 and 6.5.7 (a)-(c) of MC 		90minutes
Review the problem and submit it. 90minutes
4． Digital observer design and digital disturbance obsever Prepare digital observer.
read 6.5.7(d) o MC 		90minutes
Review the problem and submit it. 90minutes
5． Digital servo controller design Read 6.5.7(e) of MC 90minutes
Review the problem and submit it. 90minutes
6． Introductio to kalman filter Prepare to learn kalman filter. 90minutes
Review the problem and submit it. 90minutes
7． Basis of Kalman filter design Prepare basic Kalman filter design. 90minutes
Review the problem and submit it. 100minutes
8． LInear Kalman filter design Prepare linear kalman filter design 90minutes
Review the problem and submit it. 120minutes
9． Extended Kalman filter (EKF) design Prepare Extended Kalman filter Design. 90minutes
Review the problem and submit it. 120minutes
10． EKF application design Prepapre EKF application design 90minutes
Review the problem and submit it. 120minutes
11． Unscented Kalman filter (UKF) design Pprepapre Unscented Kalman filter design. 90minutes
Review the problem and submit it. 120minutes
12． UKF application design Pprepapre UKF application design 90minutes
Review the problem and submit it. 120minutes
13． Kalman filter with disturbance estimation Pprepapre Kalman filter with disturbance estimation 90minutes
Review the problem and submit it. 120minutes
14． Sumamary Summarize all you learned. 120minutes
Total. - - 2650minutes
Relationship between 'Goals and Objectives' and 'Course Outcomes'

 Problems Total.
1. 35% 35%
2. 35% 35%
3. 30% 30%
Total. 100% -
Evaluation method and criteria
The scores are evaluated via reports and exercises.
The level corresponding to the score 60 represents that the avarge score is 60 for the problem requested in the classes.
Textbooks and reference materials
Tex book：A Shimada: EE Text Motion Control, Ohm-sha, 2004.
Prerequisites
read the text book.
Office hours and How to contact professors for questions
  • Please send a e-mail to <ashimada@sic.shibaura-it.ac.jp> for an appointment.
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
  • Course that cultivates a basic problem-solving skills
Active-learning course
Most classes are interactive
Last modified : Wed Oct 17 07:41:56 JST 2018