MECH 411/501. Dynamics and Control of Mechanical Systems
Mechanical systems play a very important role in modern technology. These systems include robotic systems, space/land/sea vehicles, power plants, oil and gas structures and devices, and microelectromechanical (MEMS) systems to name just a few. This course deals with the application of principles of kinematics, dynamics, systems and control theory to the design and analysis of controlled mechanical systems. Newtonian and Lagrangian dynamics will be used in the modeling of complex mechanical systems. Tools from classical control theory, including frequency domain techniques, and advanced state space control methods will be used in the design of control laws for mechanical systems. Stability and nonlinear control laws will be introduced. Students will be exposed to demonstrations and laboratory examples and will be given the opportunity to design and implement control laws using laboratory computer-controlled systems.
Main Topics of the Course
Modeling of Mechanical Systems: 3D kinematics, Newtonian and Lagrangian dynamics of interconnected rigid bodies, equations of motion of multi-body mechanical systems, linearization of equations of motion.
Classical Control: Transfer function analysis, root-locus analysis and design and pole-zero synthesis, frequency-domain analysis and control including Bode Plot and Nyquist Criterion.
State Space Analysis and Control Methods: State space representation of dynamic systems, controllability and observability, linear observers, compensator design by the separation principle, linear quadratic optimal control
Introduction to stability and nonlinear control of mechanical systems
Course Project
RiSYS Lab hosts a variety of computer controlled systems including (i) the Industrial Emulator, (ii) the Control Moment Gyroscope, (iii) the Magnetic Levitation System, (iv) the Rice SPENDULAP, (v) the Rice Harmonic Drive Apparatus, and (vi) the Rice Delta Robot. The systems are outfitted with a wide range of control software. For the course project, students will choose one of these systems to analyze its dynamic properties, devise appropriate control laws in simulation using MATLAB software, and finally implement these control laws on the real system and check the effectiveness of the designed control laws.
Textbooks
L. Meirovitch, Introduction to Dynamics and Control, John Wiley & Sons, 1985
B.C. Kuo and F. Golnaraghi, Automatic Control Systems (8th Ed.), John Wiley & Sons, 2003
B. Friedland, Control System Design, An Introduction to State-Space Methods, McGraw-Hill, 1986
Prerequisites
MECH 343, MECH 420 or equivalent, and familiarity with MATLAB