13M011DP2 - Digital Motion Control

Course specification
Course title		Digital Motion Control
Acronym		13M011DP2
Study programme		Electrical Engineering and Computing
Module
Type of study		master academic studies
Lecturer (for classes)		professor PhD Slobodan Vukosavić
Lecturer/Associate (for practice)		asst. PhD Aleksandar Milić
Lecturer/Associate (for OTC)		asst. PhD Aleksandar Milić
ESPB		6.0	Status	elective
Condition
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
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.
Literature
S. N. Vukosavić, Digital Control of Electric Drives, Academic mind 2003. S.N. Vukosavic, Digital Control of Electrical Drives, Springer 2007. Slobodan N. Vukosavic, Electrical Machines, Springer, 2012 Vladan Vučković, Electrical drives, University of Belgrade 1997. M. R. Stojić, Digital Systems of Control, University of Belgrade 1998.
Number of hours per week during the semester/trimester/year
Lectures	Exercises	OTC	Study and Research	Other classes
2	1	1
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
Projects
Colloquia		30
Seminars		10