MODULE DETAILS

Module 10: Closed Loop Motion Control Systems

 

Nominal duration: 4 weeks (32 hours total time commitment)

 

This time commitment includes the preparation reading, attendance at each webinar (1 hour plus 15-30 minutes for discussion), and the time necessary to complete the assignments and further study.

 

 

MODULE PURPOSE

 

 

A closed-loop control system is a system in which an input forcing function is determined in part by the response of the system. The measured response of the physical system is then compared with a desired response, and the difference between these two responses initiates actions that will result in the actual response of the system to approach the desired one. Aircraft autopilots or missile guidance systems are good examples of closed-loop control systems. Most engineers and technicians from a process control environment will be familiar with PID (Proportional, Integral, Derivative) closed-loop control. However, this module will examine closed-loop (PID) control from a Mechatronics/Robotics perspective and focus primarily on closed-loop motion control systems.

 

 

PRE-REQUISITE MODULES/UNIT(S)

 

 

Module 7: Analog Circuit Design, and Module 8, Digital Circuit Design

 

ASSESSMENT STRATEGY

To evaluate the achievement of the learning outcomes; written assignments, group projects and practical exercises are set.

 

 

SUMMARY OF LEARNING OUTCOMES

1.   Remotely control a servomotor driven by a closed loop motor controller

 

2.   Optimize the stiffness, accuracy and stability of the system

 

3.   Apply tests to check system stability

 

4.   Perform advanced tuning

 

5.   Perform backlash compensation

 

 

Learning Outcome 1

 

 

Assessment criteria

 

 

Remotely control a servomotor driven by a closed loop motor controller

 

1.1.     Remotely control an industrial servomotor via a closed      loop servomotor controller

Learning Outcome 2

 

Assessment criteria

 

Optimize the stiffness, accuracy and stability of the system

 

2.1.     Use software to optimize the stiffness, accuracy and      stability of a closed loop servomotor control system

 

Learning Outcome 3

 

Assessment criteria

 

Apply tests to check system stability

 

3.1.     Perform the following tests to check the stability of a      closed loop servomotor control system:
     (a) Step response
     (b) Impulse response
     (c) Frequency response

 

 

Learning Outcome 4

 

Assessment criteria

 

Perform advanced tuning

 

4.1.      Examine and discuss the following tuning methods:
     (a) Notch filter
     (b) Low-pass filter
     (c) Feed-forward control

 

4.2.      Apply at least one of these methods to an actual      servomotor motor controller

 

Learning Outcome 5

 

Assessment criteria

 

Perform backlash compensation

 

5.1.     Examine and discuss the following backlash      compensation methods:
     (a) Open loop
     (b) Final point correction
     (c) Dual loop
     (d) Improved dual loop

 

5.2.     Apply at least one of these methods to an actual      servomotor controller

 

 

Delivery Mode

A combination of asynchronous and synchronous e-learning delivery comprising a judicious mix of interactive online web conferencing, simulation (virtual labs) software, remote online labs, online videos, Power Points, notes, reading and study materials (in pdf, html and word format) accessed through the Moodle Learning Management System (LMS).

Software/Hardware Used

Software

  • MATLAB

  • Simulink

Hardware

  •  N/A