CTU FEE Moodle
Electric Drive for Automation and Robotics
B232 - Summer 23/24
This is a grouped Moodle course. It consists of several separate courses that share learning materials, assignments, tests etc. Below you can see information about the individual courses that make up this Moodle course.
Electric Drive for Automation and Robotics - B3B14EPR
Main course
| Credits | 4 |
| Semesters | Summer |
| Completion | Assessment + Examination |
| Language of teaching | Czech |
| Extent of teaching | 2P+2L |
Annotation
The course gives a brief overview of basic types of electric drives. It deals with drives with DC, asynchronous, synchronous and special motors including power electronic converters.Another topics include control strategies such as scalar, vector, direct, sensorless control of AC drives, pulse width modulation strategies and various load types. It is focused on understanding the physical nature of a given type of drive, general derivation of basic differential equations describing transient and steady states, and creating corresponding mathematical models of analyzed systems suitable for both off-line simulation and online-adapted dynamic and real-time control using the basis of modern microprocessor technology. Problems of operating states, sensors and diagnostics of electric drives are also discussed. Basic knowledge of mathematics, mechanics, kinematics, dynamics, theory of electromagnetic field, circuit theory and control theory are assumed.
Study targets
No data.
Course outlines
1. Energy sources, batteries and accumulators, solar batteries, fuel cells, materials used in electric drives
2. DC drives for automation - DC - commutator with self-supporting winding
3. Electronically commutated drives for automation - EC
4. Asynchronous multiphase cage motor - ASM
5. Universal serial engine - mass use
6. Stepper, reluctance motor, Linear electric drives in automation - principle and control
7. Mathematical model of BLDC motor
8. Drive kinematics
9. Drive control
10. Drive control
11. Drive control
12. Drive control
13. Drive control
14. Drive control
2. DC drives for automation - DC - commutator with self-supporting winding
3. Electronically commutated drives for automation - EC
4. Asynchronous multiphase cage motor - ASM
5. Universal serial engine - mass use
6. Stepper, reluctance motor, Linear electric drives in automation - principle and control
7. Mathematical model of BLDC motor
8. Drive kinematics
9. Drive control
10. Drive control
11. Drive control
12. Drive control
13. Drive control
14. Drive control
Exercises outlines
1. Measurement on MAXON drives - setting of current, speed and position controller - digital control
2. Measurement of basic parameters of DC motor - mathematical model Ra, La …….
3. Measurement of DC motor start-up - comparison of real measurement with model in MatLab
4. Measurement of asynchronous motor - type test - automated system NI - PXI
5. Linear drive - motion trajectory setting, stepper motor - working characteristics
6. Drive control using PLC system - DC motor, AM asynchronous motor
7. Real application STM32 Nucleo - BLDC servo drive control
8. Modeling of servomotors in MATLAB -
9. Assignment of individual work
10. individual work
11. individual work
12. individual work
13. individual work
14. Homework control - credit
2. Measurement of basic parameters of DC motor - mathematical model Ra, La …….
3. Measurement of DC motor start-up - comparison of real measurement with model in MatLab
4. Measurement of asynchronous motor - type test - automated system NI - PXI
5. Linear drive - motion trajectory setting, stepper motor - working characteristics
6. Drive control using PLC system - DC motor, AM asynchronous motor
7. Real application STM32 Nucleo - BLDC servo drive control
8. Modeling of servomotors in MATLAB -
9. Assignment of individual work
10. individual work
11. individual work
12. individual work
13. individual work
14. Homework control - credit
Literature
1. Dr. Urs Kafader - Selection of high-precision microdrives CH-6072 Sachsen / Switzerland 2006 ISBN 3-9520143
2. Maxon motor ag - Magnetism - Basics, Forces, Applications CH-6072 Sachsen / Switzerland 2008 ISBN 978-3-9520143-5- 6
3. Dr. Otto Stemme, Peter Wolf, - Principles and Properties of Highly Dynamic DC Miniature Motors - Interelectric AG, CH- 6072 Sachsen / Switzerland 1994
4. Formulae Handbook, Jan Braun, maxon Academy, Sachseln 2012
5. Francis H. Raven - Automatic Control Engineering, McGraw-Hill, Inc. ISBN 0-07-051341-4, 1995
6. Elektrické stroje – Teoria a príklady – V.Hrabovcová, P.Rafajdus – Žilina 2009 ISBN 978-80-554-0101-0
7. Moderné alaktrické stroje – V.Hrabovcová, P.Rafajdus – Žilina 2009 ISBN 978-80-554-0101-0
2. Maxon motor ag - Magnetism - Basics, Forces, Applications CH-6072 Sachsen / Switzerland 2008 ISBN 978-3-9520143-5- 6
3. Dr. Otto Stemme, Peter Wolf, - Principles and Properties of Highly Dynamic DC Miniature Motors - Interelectric AG, CH- 6072 Sachsen / Switzerland 1994
4. Formulae Handbook, Jan Braun, maxon Academy, Sachseln 2012
5. Francis H. Raven - Automatic Control Engineering, McGraw-Hill, Inc. ISBN 0-07-051341-4, 1995
6. Elektrické stroje – Teoria a príklady – V.Hrabovcová, P.Rafajdus – Žilina 2009 ISBN 978-80-554-0101-0
7. Moderné alaktrické stroje – V.Hrabovcová, P.Rafajdus – Žilina 2009 ISBN 978-80-554-0101-0
Requirements
No data.
Electric Drives for Automation and Robotics - B3B14EPR1
| Credits | 6 |
| Semesters | Summer |
| Completion | Assessment + Examination |
| Language of teaching | Czech |
| Extent of teaching | 2P+2L |
Annotation
The aim of the course is to understand the basic principles of rotating machines, to gain an overview of their properties and capabilities, control methods, including respecting the influence of the load on the drive.
The course provides a brief overview of the basic types of electric drives. It deals with drives that are used as servo drives, ie DC, asynchronous, synchronous with permanent magnets and marginally special motors. The course discusses the topologies of power electronic converters, including basic modulation strategies and strategies for the control of servo drives such as vector, direct, MTPA control with emphasis on today's most commonly used PMSM motors. The course is focused not only on understanding the physical nature of the type of drive, but also on understanding the principles of operation of other important components such as sensors, semiconductor converters and digital controllers themselves. It also includes a description of the interaction of the drive with the inertial mass of the load in servomechanisms and other typical types of load in general.
The course provides a brief overview of the basic types of electric drives. It deals with drives that are used as servo drives, ie DC, asynchronous, synchronous with permanent magnets and marginally special motors. The course discusses the topologies of power electronic converters, including basic modulation strategies and strategies for the control of servo drives such as vector, direct, MTPA control with emphasis on today's most commonly used PMSM motors. The course is focused not only on understanding the physical nature of the type of drive, but also on understanding the principles of operation of other important components such as sensors, semiconductor converters and digital controllers themselves. It also includes a description of the interaction of the drive with the inertial mass of the load in servomechanisms and other typical types of load in general.
Study targets
No data.
Course outlines
1) Electric drive and its components and design methodology of actuators, sensors and communication interfaces in electric drives.
2) Transients in electric drive, equations of motion, types of loads, nonlinearities and their mathematical description.
3) Basic static and dynamic properties and requirements for servo drives of working machines, types of servomechanisms, simple position loop. Dynamic flexibility of the position loop, quality criteria of drives
4) Basics of the theory of electrical machines, construction, design
5) DC machines, mathematical description, transfer function, DC motor as servo, four-quadrant operation.
6) Converters for DC servo drives 4Q rectifiers, DC / DC converters, transfer function, methods of switching elements.
7) Transients and steady state of an asynchronous machine, mathematical description, control methods (scalar, vector, direct).
8) Construction and its influence on the parameters of synchronous machines with permanent magnets, nonlinearities, mathematical model.
9) Control strategy of motors with permanent magnets (scalar, vector, direct control), MTPA strategy.
10) Converters for AC power supply, strategies of PWM modulation, remodulation, rectangular control, mathematical models.
11) Nonlinearities of semiconductor converters, influence on control structures, continuous vs. discrete converter and modulation model
12) Modern control strategies of AC drives (predictive, sensorless).
13) Online methods for determining the parameters of AC machines, the influence of the accuracy of parameter determination on the control strategy
14) Stepper motors and other special topologies of el. machines for drives, properties, behavior, mathematical description.
2) Transients in electric drive, equations of motion, types of loads, nonlinearities and their mathematical description.
3) Basic static and dynamic properties and requirements for servo drives of working machines, types of servomechanisms, simple position loop. Dynamic flexibility of the position loop, quality criteria of drives
4) Basics of the theory of electrical machines, construction, design
5) DC machines, mathematical description, transfer function, DC motor as servo, four-quadrant operation.
6) Converters for DC servo drives 4Q rectifiers, DC / DC converters, transfer function, methods of switching elements.
7) Transients and steady state of an asynchronous machine, mathematical description, control methods (scalar, vector, direct).
8) Construction and its influence on the parameters of synchronous machines with permanent magnets, nonlinearities, mathematical model.
9) Control strategy of motors with permanent magnets (scalar, vector, direct control), MTPA strategy.
10) Converters for AC power supply, strategies of PWM modulation, remodulation, rectangular control, mathematical models.
11) Nonlinearities of semiconductor converters, influence on control structures, continuous vs. discrete converter and modulation model
12) Modern control strategies of AC drives (predictive, sensorless).
13) Online methods for determining the parameters of AC machines, the influence of the accuracy of parameter determination on the control strategy
14) Stepper motors and other special topologies of el. machines for drives, properties, behavior, mathematical description.
Exercises outlines
DC motor
1) Identification of motor parameters for a simulation model in the Matlab / Simulink environment
2) Assembly of a DC motor and load model in the Simulink environment, design of a control structure for a current / speed / position loop
3) Adding a H-Bridge semiconductor converter model with different switching strategies and real properties of current and speed measurement
4) Verification of the control design on the test HW in the laboratory
PMSM motor
5) Identification of motor parameters for simulation model in Matlab / Simulink environment
6) Adding an inverter to the drive model
7 - 8) Checking the model and control in the Simulink environment
9 - 10) Design and tuning of control structure for current / speed / position loop
11) Verification of the control design on the test HW in the laboratory
12 - 13) Reserve for practical fine-tuning of tasks
14) Credit
1) Identification of motor parameters for a simulation model in the Matlab / Simulink environment
2) Assembly of a DC motor and load model in the Simulink environment, design of a control structure for a current / speed / position loop
3) Adding a H-Bridge semiconductor converter model with different switching strategies and real properties of current and speed measurement
4) Verification of the control design on the test HW in the laboratory
PMSM motor
5) Identification of motor parameters for simulation model in Matlab / Simulink environment
6) Adding an inverter to the drive model
7 - 8) Checking the model and control in the Simulink environment
9 - 10) Design and tuning of control structure for current / speed / position loop
11) Verification of the control design on the test HW in the laboratory
12 - 13) Reserve for practical fine-tuning of tasks
14) Credit
Literature
[1] CHIASSON, John Nelson. Modeling and high performance control of electric machines. Hoboken: Wiley, 2005. IEEE Press series on power engineering. ISBN 978-0-471-72235-9.
Doporučená
[2] SUNG, Su Whan, Jietae LEE a In-Beum LEE. Process identification and PID control. New York: Wiley, 2009. ISBN 978-0-470-82412-2.
[3] POLLEFLIET, J. Power electronics. London: Academic Press, 2018. ISBN 9780128146446.
Doporučená
[2] SUNG, Su Whan, Jietae LEE a In-Beum LEE. Process identification and PID control. New York: Wiley, 2009. ISBN 978-0-470-82412-2.
[3] POLLEFLIET, J. Power electronics. London: Academic Press, 2018. ISBN 9780128146446.
Requirements
Participation of lectures and laboratories. Submission of mathematical model in Matlab/Simulink