Theory of Machines and Automatic Control

Opublikowano: 05.04.2014 19:02

Subject name Theory of Machines and Automatic Control
Type of subject               Basic
Summary ECTS 4
Form of course 30h lecture, 15h exercises
Lecturer                           Prof. Zbigniew Starczewski, Ph.D., D.Sc.
A brief outline:
Lecture
  • Mechanisms and their structure. Classification of kinematic pairs of members. Structural formulae.
  • Plane mechanisms and their classification. Methods of determining velocities and accelerations in plane mechanisms.
  • Velocity and acceleration schemes in mechaqnisms, incl. Coriolis acceleration. Four-bar linkage. Grashof’s conditions.
  • Aalytical methods for determining velocities and accelerations in plane mechanisms.
  • Cam mechanisms. Methods for determining velocities and accelerations.  
  • Synthesis of cam mechanisms. Kinematics of Cardan mechanism.
  • Dynamics of plane mechanisms. Method of reduced mass. Inertia forces.
  • Analytic-graphical method for determining forces in plane mechanisms.
  • Machine dynamics. Reduction of masses and forces. Machne equation of motion. Non-uniformity of machine motion.
  • Basic notions of automatic control. Principles of operational calculus.  
  • Types of system inputs.  Input time- and frequency characteristics.   
  • Characteristics of basic automatic control elements in the time- and frequency domains. Inertialess elements. Inertial elements of the 1-st and 2-nd order. Integral, derivative and time delay elements.
  • Block diagram algebra.
  • Types of controllers. Proportional-plus-itegral-plus-differential controller. Stability of linear automatic control systems.
  • Hurwitz and Nyquist criteria of stability. Module and phase stocks. System correction.
Exercises
  • Calculating the number of degrees of freedom and mobility of mechanisms. Kinematics of mechanisms. Velocities.
  • Determining velocities and accelerations in bar mechanisms using diagram metods.
  • Calculating accelerations in mechanisms with Coriolis component.
  • Calclating velocities and accelerations of points in mechanisms.
  • Aalytical methods for determining velocities and accelerations in mechanisms. Crankshaft and mechanism and swinging-block linkage.
  • Calculating vehicles and accelerations in cam mechanisms using analytical approach.
  • Dynamics of mechanisms. Inertia forces. Reducing mechanisms to particles.
  • Calculating reactions and and balancing forces in mechanisms.
  • Machine dynamics. Mass and force reduction. Machine equation of motion. Determining flywheel moment of inertia.
  • Determining transfer functions in automatic control systems. Frequency characteristics.
  • Equations of basic elements and their transfer functions: proportional, inertial of the 1-st order, integral, differential, oscillatory, time-delay elements.
  • Algebra of block diagrams. Series and parallel connections of elements. Systems with feedback.
  • Controllers. Stability anaysis using Hurwitz criterion.
  • Making use of Nyquist stability criterion.
  • Solving problems of stability of automatic control systems.