Various mechatronic systems including robots for industry and life support are driven and controlled by electric machines. This class provides in-depth understanding of the electric-machine-controlled mechatronic system with necessary knowledge of power electronics. Electric machines such as DC motors, induction motors and BLDC (Brush-less DC) motors are modeled and analyzed, and power converters to drive these motors also with required knowledge of power electronics will be provided in the class. Topics include design of controller systems such as current control, velocity control and position control and several practical issues on controller design, e.g., encoder resolution problem and torque ripples.
The following topics will be lectured in this class
- Basics of power electronics
- Structure and modeling of electric machines and power converters
- Design of motor drivers as power converters
- Design of current/velocity/position control
- Practical issues of mechatronic systems