13D011MUP - Digital Motion Control

Course specification
Course title Digital Motion Control
Acronym 13D011MUP
Study programme Electrical Engineering and Computing
Module Power Converters and Drives
Type of study doctoral studies
Lecturer (for classes)
Lecturer/Associate (for practice)
    Lecturer/Associate (for OTC)
      ESPB 9.0 Status elective
      The goal Mastering the theory and practical implementation of digital speed and position control, troubleshooting and compliance torsional oscillations, as well as generating the reference trajectory in a coordinated multiaxial movement. Laboratory exercises allow overcoming the practical aspects.
      The outcome The outcome of this course is to master the theory and implementation of digital motion control, as well as to prepare students for the analysis and design of digital control systems for speed and position. The course covers the analysis, design, implementation, and evaluation of coding.
      Contents of lectures DSP technology in the management of the movement, speed and position controllers, mechanical resonance problems, reconstruction of signals, and generating the reference trajectory in the coordination of movement. Methods of synthesis and regulation in setting the parameters of traditional analog industrial controllers. The method of dual relationships. Robustness of traditional analog solutions.
      Contents of exercises Advantages and disadvantages of digital implementation. Discretization in time and amplitude. The problem of fake characters in the parade range of samples. Hardware and software solutions for the elimination of false figures. Digital implementation structure for the control of electrical drives.
      1. S. N. Vukosavić, Digitalno upravljanje elektromotornim pogonima, Akademska misao 2003.
      2. S.N. Vukosavic, Digital Control of Electrical Drives, Springer 2007.
      3. Slobodan N. Vukosavic, Electrical Machines, Springer, 2012
      4. Vladan Vučković, Električni pogoni, Univerzitet u Beogradu 1997.
      5. M. R. Stojić, Digitalni sistemi upravljanja, Univerzitet u Beogradu 1998.
      Number of hours per week during the semester/trimester/year
      Lectures Exercises OTC Study and Research Other classes
      Methods of teaching 45 lectures, 15 hours of auditory exercises. 15 hours of laboratory and demonstration exercises. 50 hours of independent work, 25 hours of work with teachers through seminars and discussions. Working with students 1:1 for 4 hours each week consultation.
      Knowledge score (maximum points 100)
      Pre obligations Points Final exam Points
      Activites during lectures 0 Test paper 20
      Practical lessons 20 Oral examination 20
      Colloquia 30
      Seminars 10