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 nonlinearities (backlash and Coulomb friction). POG Linear time-variant systems. Crank-connecting rod system. Planetary Gears: full model 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
- - -
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 a theoretical part A) (max. 28 points) and a written project B) (max. 5 points).
A) The theoretical part will be carried out in written form in presence in the January/February exam sessions and orally in the June/July/September exam sessions.
A1) Written exam on the theoretical part in January/February (max. 28 points).
a) duration: about 90 minutes;
b) 12-16 theoretical questions or numerical exercises;
c) during the exam it will not be allowed to consult didactic material;
A2) Oral exam in the presence of the theoretical part in the sessions of June/July/September (max. 28 points).
Average duration of the oral : 60 min.
Structure of the oral exam: theoretical questions and small exercises on the main topics of the course.
B) The written project (5-10 pages, max 5 points) consists in the modeling and simulation in Matlab/Simulink environment of a physical system.
The title of the written project must be agreed with the teacher. The project, once completed, must be sent by email to the teacher.
The final score is given by the sum of the scores obtained in the theoretical part (max. 28 points) and in the written project (max 5 points)
Honors will be given if the final score exceeds 31.5.
Other information
- - -
2030 agenda goals for sustainable development
- - -
