Servomechanisms

Code:

M.EM015

Acronym:

SVM

Keywords
Classification	Keyword
OFICIAL	Automation

Instance: 2023/2024 - 1S

Active?	Yes
Responsible unit:	Automation, Instrumentation and Control Section
Course/CS Responsible:	Master in Mechanical Engineering

Cycles of Study/Courses

Acronym	No. of Students	Study Plan	Curricular Years	Credits UCN	Credits ECTS	Contact hours	Total Time
M.EM	39	Syllabus	2	-	6	39	162

Teaching language

English

Objectives

1. To identify the main technological elements of electro-hydraulic, electro-pneumatic and electromechanical servomechanisms;
2. To elaborate mathematical models of servomechanisms;
3. To design and dimension servomechanisms;
4. To develop and tune controllers for servomechanisms;
5. To use Computer-Aided Control System Design tools in the design, simulation and analysis of servomechanisms.

Learning outcomes and competences

Learning Outcomes

It is intended that students acquire a set of core and structuring knowledge in electro-hydraulic, electro-pneumatic and electromechanical servomechanisms, enabling them to design, model, size, simulate and elaborate the necessary control solutions using Computer-Aided Control System Design tools.

Computer Skills

Simulation and Analysis of servomechanisms using Matlab / Simulink software.
Design of controllers using Matlab software.

Transversal Skills

Group work; Preparation of report.

Working method

Presencial

Pre-requirements (prior knowledge) and co-requirements (common knowledge)

Hydraulic and Pneumatic Systems.

Control Systems.

Electromechanical Systems.

Program

1. REVIEW OF CONTROL SYSTEMS CONCEPTS
1.1 Terminology, fundamentals, static and dynamic characteristics.
1.2 Architecture of a servomechanism.

2. PROPORTIONAL AND SERVO HYDRAULICS
2.1 Electro-hydraulic control elements.
2.2 Characteristics of proportional and servo-hydraulic control elements.
2.3 Mathematical modeling of hydraulic systems.
2.4 Design and sizing of hydraulic servomechanisms.

3. PROPORTIONAL PNEUMATICS
3.1 Electro-pneumatic control elements and their characteristics.
3.2 Mathematical modeling of pneumatic systems.
3.3 Design and sizing of pneumatic servomechanisms.

4. ELECTROMECHANICAL SERVOMECANISMS
4.1 Servomotors and Drivers.
4.2 Mechanical transmissions for servomechanisms; nonlinear behaviors.
4.3 Modeling, design and dimensioning.

5. CONTROL OF SERVOMECANISMS
5.1 Controller architecture; Cascade controllers; Feedforward control actions; Filters.
5.2 Transducers; Impact of resolution and sampling frequency.
5.3 Controllers design and tuning.

Mandatory literature

John Watton; Fundamentals of fluid power control. ISBN: 978-0-521-76250-2
Peter Beater; Pneumatic drives. ISBN: 978-3-540-69470-0
Frederick G. Moritz; Electromechanical motion systems : design and simulation, John Wiley & Sons, Ltd, 2014. ISBN: 978-1-119-99274-5
George Ellis; Control System Design Guide: Using Your Computer to Understand and Diagnose Feedback Controllers, Elsevier, 2012. ISBN: 978-0-12-385920-4

Complementary Bibliography

Mohieddine Jelali and Andreas Kroll; Hydraulic servo-systems : modelling, identification and control, Springer-Verlag, 2004. ISBN: 978-1-4471-1123-8
Herbert E. Merritt; Hydraulic control systems
Richard Crowder; Electric Drives and Electromechanical Systems, Elsevier, 2006. ISBN: 978-0-7506-6740-1
Masatoshi Nakamura, Satoru Goto and Nobuhiro Kyura; Mechatronic Servo System Control: Problems in Industries and their Theoretical Solutions, Springer-Verlag, 2004. ISBN: 978-3-540-21096-2

Teaching methods and learning activities

Theoretical-practical classes for exposition and exploration of contents. Computational group work on modeling and simulation of a servomechanism, allowing the application of the learning outcomes to a credible practical case.

Weekly workload – 3h TP
Classes attendance – 39h
Autonomous study – 39h
Modelling and simulation with Matlab/Simulink – 32h
Report elaboration – 12h
Exam preparation – 40h
Attendance to students.

Software

Matlab
Simulink

Evaluation Type

Distributed evaluation with final exam

Assessment Components

Designation	Weight (%)
Exame	70,00
Trabalho prático ou de projeto	30,00
Total:	100,00

Amount of time allocated to each course unit

Designation	Time (hours)
Elaboração de relatório/dissertação/tese	44,00
Estudo autónomo	79,00
Frequência das aulas	39,00
Total:	162,00

Eligibility for exams

Not to exceed the maximum allowable number of class nonattendances and obtain a minimum mark of 8.0 in 20 in the Distributed Evaluation: Written Report on a computational work of modeling and simulation in Matlab/Simulink of a servomechanism.

Calculation formula of final grade

Distributed Evaluation: Classification of a Written Report on a computational work of modeling and simulation in Matlab/Simulink of a servomechanism (DE);
Written Exam Classification: EC;
Final Classification: FC.
FC=0.3 DE + 0,7 EC.

Examinations or Special Assignments

Written Report on a computational work of modeling and simulation in Matlab/Simulink of a servomechanism.

Special assessment (TE, DA, ...)

In addition to the final exam, the student will be asked to carry out a special work, identical to the computational work required of ordinary students.

Classification improvement

The student can choose between improving the classification of the distributed component, in which case he will have to prepare a new report, the component corresponding to the final exam, in which case he will have to take a new final exam, or both components, in which case he will have to prepare new report and perform a new final exam.

Observations

There is no recourse to the distributed component of the assessment (DE).