University of Niš. Faculty of Electronic Engineering. MASTER STUDY PROGRAMME (1 year, 2 semesters, 60 ECTS) CONTROL SYSTEMS

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1 University of Niš Faculty of Electronic Engineering MASTER STUDY PROGRAMME (1 year, 2 semesters, 60 ECTS) CONTROL SYSTEMS : (automotive) Title Semester L+E+OFE+SRW ECTS Obligatory s Methods of Intelligent Control 4 Computer Control Systems 4 1 Electrical Drive Control 4 Study and Research Work Elective s Elective block 1 Computer Systems for Measurements and Control Design of Microcontroller Based Measurement Instruments Elective block 2 Large-scale System Control Modelling and Simulation in Automotive Industry Adaptive Signal Processing Quality Management Project Management and Organization Geographic Information Systems 1 P a g e

2 Computer Animation Embedded Systems Wireless Sensors and Sensor Networks Telemetry Elective block 3 Sensors and Transducers in Vehicles Sensors, Transducers and Actuators Intelligent Measuring Systems Virtual Measuring Instrumentation Elective block 4 Methods of Digital Control and Estimation Control Systems in Motor Vehicles Systems for Control and Supervision in Industry Design of electronic devices Intelligent Systems Electromedical Instrumentation Mobile Communication Systems Study and Research Work Professional Practice/ Team Project 2 3 Master Thesis 2 15 Total ECTS: 60 2 P a g e

3 Study program Lecturer/associate (for exercises) outline Control Systems Computer Systems for Measurements and Control Živanović B. Dragan, Arsić Z. Miodrag Milenković V. Vladeta 4 status (obligatory/elective) elective Practical Preparation of project tasks and seminar papers in the field of theoretical lectures. 1 D. Denić, I. Randjelović, D. Živanović Računarski merno-informacioni sistemi u industriji, Faculty of electronic engineering Niš and WUS, script, Drndarević V. "Akvizicija mernih podataka pomoću računara", Institut za nuklearne nauke Vinča Burns, M.,Roberts,G.W.,"Mixed-Signal IC Test and Measurement",Oxford Univ. Press,New York, National Insturments, "Measurement and Automation Catalog", National Instruments Catalog 5 Lang, T.T., "Computerized Instrumentation", John Wiley & Sons, Lectures Exercises OFE Study work Other classes methods Specification for the book of courses The aim of the subject is to allow students to introduce with hardware and software of systems for measurement and control, to learn all techniques of connection of single components into complex system, considering the influence of the applied techniques on the measurement accuracy. Student will be abble to decide whether to use virtual instruments, centralized or distributed measurement systems to solve project task, which components should be used and to recognize potential problems which could occur in practice. Measurement of non-electrical quantities. Connection of sensors, measurement transducers and actuators with computer. Hardware structure of computer-based measurement systems. Standard interface systems for measurement techniques. SCADA systems. Distributed measurement systems. Components of distributed systems. Inteligent measurement transducers. Hardware and software techniques of compensation of measurement results. Inteligent sensors in cars. Electrical isolation in measurement systems. Protocols of industrial networks. Protocols for inteligent sensors in cars. Wireless sensor networks. Virtual instrumentation and virtual laboratories. Examples of practical implementation of computer-based measurement systems. Real-time work. Software design. Internet connection. Calibration of computer-based measurement devices and systems. Automatic test systems. Measurement systems for car testing Lectures with the use of modern presentation techniques and devices, discussion of, student's solutions of the given tasks, consultations, computational exercises. exercises colloquia projects 10 written exam oral exam

4 Study program Lecturer/associate (for exercises) outline Specification for the book of courses Control systems Control Systems in Vehicles Antić S. Dragan, Mitić B. Darko Perić Lj. Staniša 4 status (obligatory/elective) elective The aim of the course is to familiarise students with the control issues of the automotive subsystems that influence the general behaviour of the whole vehicle. The course will cover control system design and numerical simulation of automotive subsystems such as brake system, ride & handling systems (suspension, steering, ESP), and power-train (transmission, clutch, launch control, electronic differential). The course will start with the most widely used control structure in automotive applications and end with the advanced control topics that include system constraints in the design and the driver system closed loop control. This course will also address the design, control and implementation of these systems using the platform of MATLAB and SIMULINK. Upon completion of this course students will be able to: formulate and solve control engineering tasks related to the most representative automotive systems using the Control Theory methodology. model and simulate complex automotive systems in computer interactive environment, using MATLAB and SIMULINK modern numerical analysis and simulation tools. Introduction to vehicle control and basis of systems control engineering. Vehicle as a system, controlled by tyre forces and internal suspension loads, with interfaces to the driver and the traffic environment. Control of lateral dynamics. Control of longitudinal dynamics. Control of vertical dynamics. Applications of dynamics control systems. Assistance systems in commercial vehicles. Development of control systems for automotive applications. Power steering (EPS, EHPS). Integrated vehicle (body) control. Suspension control. Introduction to traction and brake control (ESP, ESC, DSC, ABS). Development of mathematical models in continuous- and discrete-time domain. Advanced control algorithms (fuzzy, neural network, sliding mode) designed and applied in automotive applications. Practical Coordinates and Notation for Vehicle Dynamics. Longitudinal Vehicle Motion. Lateral Vehicle Motion. Vertical Vehicle Motion. Linear Vehicle Model. Nonlinear Vehicle Model. Design of model for ABS, ESP. Design of advanced control methods for automotive control systems. Simulation in Matlab and Simulink packages. Real-time experiments. 1 A. Galip Ulsoy, Huei Peng, Melih Çakmakci, "Automotive Control Systems", ISBN-13: Jazar, Reza N., "Vehicle Dynamics: Theory and Application", ISBN , Lectures Exercises OFE Study work Other classes methods Lectures; Computer Exercises; Consultations 10 written exam 20

5 exercises colloquia projects 20 oral exam

6 Specification for the book of courses Study program Lecturer/associate (for exercises) Control Systems Electrical Drive Control Antić S. Dragan, Jovanović D. Zoran, Mitić B. Darko Nikolić S. Saša 4 status (obligatory/elective) obligatory Introduction to the different types of controllers, control of electric drives coordinates, structures of controlled electrical drive, design methods of controlled electrical drives. outline Knowledge about the types of controllers and their application (current, torque, speed and position control), design (method of poles placement, method of symmetric and technical optimum), frequency control of induction motor, vector control. Definition, significance, application and types of regulated electric drives. Mechanics of electrical drives (ED). Electrical drive kinematics with examples. Generalized model of motor, the regimes of energy transformation, the coordinate transformations. Electromechanical motor characteristics. DC motors, asynchronous and synchronous motors, step motors. Dynamic characteristics of electromechanical systems. Regulation of electric drive coordinates (moment, current, velocity, position). System controlled power converter electrical drive. Typical structures of controlled electric drive. Methods for design of controlled electric drives. Classical methods. Modern methods. Control of a DC motor using linear controllers. The selection of the type of linear controller and parameters tuning. Control of asynchronous motor. Frequency control of rotation speed of asynchronous motor. The principle of vector control using field orientation. Design of identity observer. Control based on state space coordinates. Practical Modeling of ED using Hamilton's principle and Lagrange-Euler equations. Time responses of EDs. Control of position and rotation of a DC motor using linear (PI, PD and PID) controllers. The selection of the type of linear controller and practical parameters tuning. Control of asynchronous motor. Frequency control of rotation speed of asynchronous motor. Asynchronous motor control based on PLC and frequency controllers. Vector control of asynchronous motors. Implementation of ED in the automotive industry. ABS, ESL, ESC, servo systems in modern vehicles. 1 V. Vučković, Electrical Drives, Akademska misao, (in Serbian) 2 I. Boldea, S.A. Nasar: Vector Control of AC Drives, CRC Press, W. Leonhard: Control of Electrical Drives, Springer-Verlag, Dragan Antić, Darko Mitić, Zoran Jovanović, "Electrical drive control - workbook", Faculty of Electronic Engineering, Niš, (in Serbian) 5 Lectures Exercises OFE Study work Other classes methods Lectures; Auditory exercises; Computer exercises; Consultations exercises colloquia 10 written exam oral exam 20 20

7 projects 10

8 Study program Lecturer/associate (for exercises) outline Specification for the book of courses Control Systems Intelligent Measuring Systems Arsić Z. Miodrag, Živanović B. Dragan Milenković V. Vladeta Miljković S. Goran 4 status (obligatory/elective) elective Deepening knowledge about inteligent sensors, distributed measurement systems and virtual instrumentation. The ability of students to understand structure and characteristics of modern measurement systems. The ability to make a concept of measurement system, develop measurement methods and realize virtual instument based on the project task. Basic block diagram of an inteligent measurement system. Basic definitions. Integrated inteligent sensors and integrated measurement moduls. Distributed measurement systems. Connection of measurement and computer systems. Virtual instrumentation and virtual laboratories. Metrological characteristics of inteligent measurement systems. Measurement and control systems in cars based on inteligent sensors. Practical Preparation of project tasks and seminar papers in the field of theoretical lectures. 1 D. Denic, I. Randjelovic, D. Zivanovic, Racunarski merno-informacioni sistemi u industriji, Faculty of electronic engineering Nis and WUS Austria, script, Barney, G.C., Intelligent Instrumentation, Prentice Hall, New York, National Insturments, "Measurement and Automation Catalog", National Instruments Catalog 4 Horn, G., Huijising, J., "Integrated smart sensors, design and calibration", doctoral diss., Delft, Kluwer Academic Publisher, Netherlands, Lectures Exercises OFE Study work Other classes methods Lectures with the use of modern presentation techniques and devices, discussion of, student's solutions of the given tasks, consultations, computational exercises. exercises colloquia projects 10 written exam oral exam

9 Specification for the book of courses Study program Lecturer/associate (for exercises) Control systems Modelling and Simulation in Automotive Indusrty Milojković T. Marko Perić Lj. Staniša 4 status (obligatory/elective) elective outline The course aims to take the student's existing knowledge of basic mechanics and modelling and simulation of dynamical systems and apply them to road vehicles, in particular, vehicle subsystems, vehicle ride and handling behaviour. The key to the course material is the understanding of various dynamical equations of motion governing vehicle behaviour as well as computer simulation. At the end of the course students will be able to: model the dynamics of vehicle subsystems and provide fundamental recommendation to design and improve the function of the subsystems based on computer simulation; develop a model for vehicle lateral and longitudinal dynamics, as well as vehicle ride behaviour; apply fundamental simulation techniques to analyze vehicle dynamic behaviuor including validation. Introduction to the basic mathematical and mechanics concepts relevant for analyzing vehicle dynamics. Modelling and simulation of vehicle subsystems: tire; steering; suspension; gearbox; engine. Modelling and simulation of vehicle ride: vehicle/driver motions; vehicle vibration (frequency, dumping); suspension behavior of quarter car model, design and practical issues (springs, dumpers); road surface inputs and human response. Modelling and simulation of vehicle handling: understeer and oversteer; modelling and simulation of tires, their force and moment behavior. Modelling and simulation of ABS, ESP. Graphical methods of vehicle modeling. Case studies of modelling and simulation of vehicle ride and handling. Practical Introduction to the Matlab software environment related to automotive industry. Modelling and simulation of tire subsystem. Modelling and simulation of steering subsystem. Modelling and simulation of suspension subsystem. Modelling and simulation of gearbox subsystem. Modelling and simulation of engine subsystem. Modelling and simulation of vehicle handling. Quarter car model. Modeling and simulation of ABS. Modeling and simulation of ESP. 1 D. Antić, B Danković, "Modelling and simulation of dynamical systems", Faculty of Electronic Engineering, Niš, (in Serbian) 2 D. Antić, B Danković, "Practical handbook on modelling and simulation of dynamical systems", Faculty of Electronic Engineering, Niš, (in Serbian) 3 A. Galip Ulsoy, Huei Peng, Melih Çakmakci, "Automotive Control Systems", ISBN-13: , April 30, Jazar, Reza N., "Vehicle Dynamics: Theory and Application", ISBN , Lectures Exercises OFE Study work Other classes methods Lectures, Auditory Exercises, Computer Exercises; Consultations exercises 10 written exam oral exam 20

10 colloquia projects 30

11 Practical Specification for the book of courses Study program Control Systems Sensors and Transducers in Vehicles Arsić Z. Miodrag, Radenković N. Dragan Lecturer/associate (for exercises) Stojković S. Ivana Stojković S. Ivana 4 status (obligatory/elective) elective Covering necessary knowledge for sensor using in automotive industry. Practical and theoretical knowledge necessary for sensors using in vehicles. outline Functional sensors in vehicle. Sensors for vehicle monitoring and for driver and passengers status information obtaining. Sensors for vehicle security and protection. From the group of functional sensors, a special attention is given to the following sensors: Position sensors (potentiometer sensors, magneto-inductive sensors, magneto-static sensors, current-magnetic sensors, sensors with the Hall s effect, GMR sensors, velocity and acceleration sensors, and other sensors for angle measurement and movement detection in the car). Force and torque sensors (magneto-elastic sensors, piezoresistive sensors, eddy current sensors, and other force and torque sensors). Pressure sensors (capacitive sensors, piezoceramic sensors, other pressure sensors). Flow meters (mass and volumetric flow sensors, sensors based on the differential pressure, sensors with a hot wire, sensors with ballast, sensor based on the pressure compression principle, other sensors for measurement of the flow). Temperature sensors (metal-resistive sensors, semi-conducting sensors, contactless temperature sensors, other temperature sensors). Gas sensors and concentration sensors (O2 sensors, CO and CO2 sensors, nitrogen oxide sensors, sensors for the gases and liquids humidity, sensors for the soot concentrations in the exhaust gases, "lambda" sensors, other sensors). Actuators in an automobile. The processing of the sensor signals. Data exchange between the automobile electronic systems. The main requirements and directions in sensors and actuators development in the automobile industry. 1 Dragan Stanković, ''Fizičko-tehnička merenja'', Naučna knjiga, Beograd, Mladen Popović, Senzori i merenja, V.Е.Š., Beograd, John Webster, The Measurement, Instrumentation and Sensors Handbook, CRC Press, IEEE Press. 4 J. Marek, H.-P. Trah, Y. Suzuki, I. Yokomori, "Sensors applications, volume 4 - Sensors for Automotive Lectures Exercises OFE Study work Other classes Measurements with different types of sensors. methods exercises colloquia projects 10 written exam oral exam

12 Specification for the book of courses Study program Lecturer/associate (for exercises) Control Systems Telemetry Denić B. Dragan, Perić H. Zoran Miljković S. Goran 4 status (obligatory/elective) elective The course has the goal to introduce students with basic transmission techniques of measurement signals and with a number of modern measurement systems configurations for remote measurement. outline Practical Capability of basic problems defining related to transmission of measurement signals and to realisation of modern measurement systems for remote measurement. Designing of simple telemetry systems examples and estimation fulfillment of standards. Capability of working with modern measurement systems for distant measurement. Basic terms and definitions; pneumatic telemetry systems; analog telemetry systems, frequency and pulse-width modulation; transmitters; two-wire transmitters, serial and parallel power sources; analysis of concrete two-wire transmitter examples, analogue and digital telemetry systems; delta modulation; digital telemetry systems; FSK (frequency-shift keying) modulation; pulse code modulation (PCM); digital transmitters; digital two-wire transmitters; universal asynchronous receiver-transmitter; computer based telemetry systems; standard interface systems; modems; automotive telemetry systems; fiberoptic telemetry systems; industrial telemetry systems, biotelemetry, virtual instrumentation and Internet in telemetry systems; connection of distant measurement systems, distributed virtual laboratories; telemetry system testing; telemetry standards. 1 D. Denić, G. Miljković, "Telemetrija - skripta", na sajtu Elektronskog fakulteta, D. Denić, I. Ranđelović, D. Živanović, Računarski merno-informacioni sistemi u industriji, Elektronski fakultet u Nišu i WUS Austria, skripta, Ј.Webster, The measurement, instrumentation, and sensors handbook, CRC Press, S. Horan, Introduction to PCM telemetering systems, CRC Press, W. Nawrocki, Measurement systems and sensors, Artech House, Lectures Exercises OFE Study work Other classes Concrete examples and problems are analysed on exercises. methods exercises colloquia projects 5 written exam 20 5 oral exam