Learning objectives
The course provides the basic tools for modeling, simulating and controlling electromechanical systems. In particular, the Power-Oriented Graphs (POG) modeling technique is presented and discussed. In the course, many linear and nonlinear application examples are presented. The application examples will be developed, mainly, in Matlab/Simulink environment.
Prerequisites
Laplace transform. Time and frequency analysis of the linear dynamic systems. Stability of the feedback dynamic system
Course unit content
1) Power-Oriented Graphs (POG) modeling technique (2 CFU)
Power sections and power flows.
Modeling techniques based on the power flows: BG, POG and EMR.
Elaboration blocks and Connection blocks. Energetic Domains.
POG dynamic structure of the physical systems.
Series and parallel connections of physical elements.
Examples of modeling physical systems.
2) Dynamic POG state space model. (1 CFU)
How to read the dynamic POG model of a physical system.
State space transformations.
Similitude and Congruent transformations.
How to obtain a reduced model using the congruent transformations.
3) POG Modeler Program (0.5 CFU)
Main features and how to use it.
4) Examples of POG modeling and simulation of physical systems (2.5 CFU)
Matlab and Simulink environments
Hydraulic clutch system
Mechanical system with non linearities (backlash and Coulomb friction).
POG Linear time-variant systems.
Crank-connecting rod system.
Planetary Gears: full model and and reduced rigid model.
Planetary Gears: elastic reduced model.
Planetary Gears: fast modeling. Examples
Input-output inversion of a POG dynamic system.
POG nonlinear systems: the vectorial case and examples of nonlinear scalar systems.
Full Toroidal Variator (KERS).
Continuous Variable Transmission (CVT).
Dynamic connection of POG subsystems.
Full programme
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Bibliography
Videos and slides of the teacher's lessons.
Teaching methods
Theoretical lessons and exercises will be carried out in the classroom with the aid of a blackboard and a projector. The slides of the lessons will be available online on the teacher's website.
Assessment methods and criteria
The exam consists of two parts: A) a theoretical part (max. 28 points); B) a brief written project and/or completion of some online MATLAB courses (max. 5 points).
A) Theoretical Part: the theoretical part will be conducted in written form during the January/February sessions and in oral form during the June/July/September sessions.
A1) Written exam on the theoretical part in the January/February sessions (max. 28 points): a) Duration: approximately 90 minutes. b) 12-16 theoretical questions or numerical exercises. c) During the exam, consulting educational material will not be allowed. d) If possible, the exam will be conducted in person. e) In case the exam is conducted remotely (online), it will be supervised via video by the instructor and their assistants.
A2) Oral exam on the theoretical part in the June/July/September sessions (max. 28 points). Duration: 60 minutes if the exam is conducted in person and 90 minutes if the exam is conducted online.
Structure of the oral exam: theoretical questions and small exercises on the main topics of the course.
B) The Short Written Project (2-5 pages, max. 2 points): it involves modeling and simulation of a physical system using MATLAB/Simulink. The title of the written project must be agreed upon with the instructor. Once completed, the project should be sent via email to the instructor.
The MATLAB courses the student can take online are as follows: "Simulink Onramp" (1 point), "Simscape Onramp" (1 point), "Control Design Onramp with Simulink" (1 point).
The student must email the certificates of the completed courses to the instructor when requesting the final course grade to be recorded online.
The final score is the sum of the points obtained in the theoretical part (max. 28 points) and the project/Matlab corses (max. 5 points).
Honors will be awarded if the final score exceeds 31.5.
Other information
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2030 agenda goals for sustainable development
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