EEN130 – Systems and Mechatronics

for Mobility Engineering

Jonas Fredriksson
Department of Electrical Engineering
[email protected]
EEN130 – Systems and Mechatronics
for Mobility Engineering

Lecturer/Examiner: Jonas Fredriksson

Teaching assistants:
Ektor Karyotakis, Lorenzo Montalto

Department of Electrical Engineering

2023-08-29
 Lecture 1 - Introduction
• Practical information
• What is mechatronics?
• Course overview
• Learning outcomes

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 Practical information
• Webpage
• Course-PM
• Literature
• Flipped class-room
• Schedule
• Assignments
• Course evaluators

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 Canvas

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 Literature
Textbook
• Karl J. Åström and Richard M. Murray, Feedback
Systems: An Introduction for Scientists and Engineers,
Second Edition

Other material (on Canvas):

• EEN130 - Problem Collection
• EEN130 – Textbook supplement

Book available online: https://fbswiki.org/wiki/index.php/Feedback_Systems:_An_Introduction_for_Scientists_and_Engineers

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 Flipped class-room
Traditional class-room lectures – passive learning

Idea: Move towards active learning

• Introductory lecture
• Online videos to watch at home
• Tutorials
• Discussion session

Videos based on edX MOOC: Model-based Automotive Systems Engineering

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 Schedule
Monday Tuesday Wednesday Thursday Friday

8-10 Consultation hours Lecture Tutorial

10-12 Discussion session Consultation hours

Lunch

13-15

15-17

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 Schedule
Week Date Time Lectures/Discussion sessions/Tutorials Chapter/Exercises

1 29/8 08.00 – 09.45 MPMOB: Internationalization and cultural

diversity
10.00 – 11.45 Introduction
30/8 08.00 – 09.45 Feedback principles and linear systems I Ch. 1, 2.2 - 2.4, 5.1, 5-3 and 6.1

2/9 08.00 – 09.45 MATLAB and Simulink

10.00 – 11.45 Ethics
2 5/9 08.00 – 09.45 Feedback principles and linear systems II Ch. 1, 2.2 - 2.4, 5.1, 5-3 and 6.1

6/9 10.00 – 11.45 Tutorial 1 Ex. 1.7, 1.8, 1.10 - 1.12-1.14

8/9 08.00 – 09.45 Discussion session I
3 12/9 10.00 – 11.45 Modeling of dynamic systems I Ch. 3, 4.1 and 4.2
13/9 08.00 – 09.45 Modeling of dynamic systems II Ch. 3, 4.1 and 4.2
15/9 08.00 – 09.45 Tutorial 2 Ex. 2.1 – 2.8, 2.14 – 2.15, 2.19, 2.24
4 19/9 10.00 – 11.45 Discussion session II
20/9 08.00 – 09.45 State feedback control Ch. 7
22/9 08.00 – 09.45 Tutorial 3 Ex. 3.4 – 3.6, 3.9, 3.12

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 Schedule
Week Date Time Lectures/Discussion sessions/Tutorials Chapter/Exercises
5 26/9 10.00 – 11.45 Discussion session III
27/9 08.00 – 09.45 State estimation Ch. 8
29/9 08.00 – 09.45 Tutorial 4 Ex. 4.5 – 4.8, 4.10, 4.11
6 3/10 08.00 – 11.45 MPMOB: Group diversity workshop
13.15 – 15.00 Discussion session IV
4/10 08.00 – 09.45 Implementation aspects I Textbook supplement
5/10 13.15-15.00 MPMOB: Group diversity workshop
11/10 08.00 – 09.45 Implementation aspects II Textbook supplement
13/10 08.00 – 09.45 Tutorial 5 Ex. 5.1 - 5.4, 5.6
8 17/10 10.00 – 11.45 Discussion session V
20/10 08.00 – 11.45 Presentations of Grade 5 assignment

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 Examination
• Approved hand-in assignments.
• The assignments are individual (except for Assignment 1 and Assignment 2 which are
solved in groups of two students) and must be solved according to the instructions
presented in the assignments and on the canvas page. Individual parameters are provided
for each student. Supervision sessions are provided each week.
• To pass the course a total score of 45 points needs to be collected from the assignments.

• Grade 3: 45-60 points in a total score of the assignments

• Grade 4: 60-70 points in a total score of the assignments
• Grade 5: 70-80 points in a total score of the assignments + oral presentation of the last assignment

• Consultation hours are provided each week.

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 Assignments
• Assignment 1: Linear systems and feedback control (10 points)
• Deadline September 15.

• Assignment 2: Modeling and analysis (10 points)

• Deadline September 22.

• Assignment 3: State feedback control (15 points)

• Deadline September 29.

• Assignment 4: State estimation (15 points)

• Deadline October 6.

• Assignment 5: Automated driving function (15 points)

• Deadline October 19.

or
Assignment 5: Grade 5 assignment (30 points)
12
• Deadline October 19. 2023-08-29
 Special Assignments
• Assignment 0: Getting started with MATLAB (0 points)
• No deadline, group work is possible, not mandatory, self correcting

• Assignment 5: Grade 5 assignment (30 points)

• For grade 5, an individual designed assignment will be setup, including
an oral presentation of your design and results.
• Deadline October 19. (Presentations on October 20)

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 Course evaluators*

• MPMOB [email protected] Rasmus Andersson

• MPMOB [email protected] Suresh Chander
• MPMOB [email protected] Sanjana Hassan Ananda Kumar
• MPMOB [email protected] Atlin Roy
• N5MOB [email protected] Maria Shtereva

*) Stay after the lecture ends and I will explain what it means to be an evaluator

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 Changes from last year
• Some new assignments
• More introduction to control theory

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 Prerequisites
• Basic knowledge in automatic control, linear transforms and mechanics.

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 What is mechatronics?

• Mechatronics is the concatenation of the two

words mechanics and electronics.
• Mechatronic systems are systems or products
consisting of mechanical parts and electrical
parts, often computer controlled.
• Design of mechatronic systems is the
integration of the parts.

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 What is mechatronics?

Electromechanical Real time interfacing

Modeling and
simulation
Systems and
Mechanical Electrical Computer
system
Actuators
system
D-A
system + Automatic
control
= Mechatronics
for Mobility
Engineering
Sensors A-D
Optimization

“A mechatronic system is not an electromechanical system but is more

than a control system” - Devdas Shetty and Richard A. Kolk
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 Design of mechatronic systems
Modeling/Simulation Prototyping Productifying

Recognition of the need Identify I/O need Robust design

Conceptual design and Select microcontroller Manufacturing

functional specification
Identify necessary Final testing
First principle interface circuits
mathematical modeling Life cycle optimization
Draw the schematic
Sensor and actuator
selection Draw a program flow-
chart and write the code
Control system design
Build and test the system
Design optimization

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 Design of mechatronic systems

Uri Nenner,
Technion – Israel Institute
20 of Technology, Haifa, Israel 2023-08-29
 Design of mechatronic systems
1
F ( s ) = 1.1 2
æ sö
ç1 + ÷
è 5ø

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 Application areas
• Consumer electronics:
• Cameras
• Video cameras
• Consumer products:
• Dish- and washing machines
• Microwave owens
• Robotics
• Vehicles, airplanes, ships:
• Stability
• X-by-wire

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 Trends within mechatronic design
• Replace existing solutions to achieve the same functionality but
cheaper
• New functionality through software

• Weaker mechanical structures to save materials, weight, and money

• Mechatronics is used to compensate for the mechanical weakness
• New products that were previously not possible due to cost, size,
weight, etc

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Course overview – Model-based design
Model-based design is a mathematical and visual method of addressing
problems associated with designing complex systems.
The main steps are:
• modeling the plant or the system,
• synthesizing a controller for the plant and analyzing the system
• verification and validation.

disturbance 𝑑

reference input error control input output

Controller Plant
𝑟 + 𝑒 𝑢 𝑦
-

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 Model based design
Requirements Product/system
System development and testing

Verification and

tion
Sys

validation

gra
tem

inte
Plant modeling
de

Hardware-in-the-loop

tem
sig

(HIL)

Sys
n

Model analysis Software-in-the-loop (SIL)

Model based control design Model-in-the-loop

(MIL)
Subsystem/component development and testing
Modeling
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 Model based design
Hardware-in-the-loop Software-in-the-loop (SIL)
(HIL) Test
ling
e Model-in-the-loop
od
M (MIL)
System development Model based control design

Integration Development

Model analysis

Plant modeling

Definition Product/
Definition
Requirements Backlog Sprint Delivery
of ready system
of done
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Why model based design?
The main reason: are productivity, quality
• To gain a better understanding
• Less error-prone
• Less sensitive to changes in technology
• More cost-effective
• Up-to-date documentation
https://theconstructor.org/construction/strategic-construction-project-planning-
• Captures domain knowledge programming/16044/

• Difficult to do trial and error experiments on some things

• Difficult to compare, meaningful validation
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Why model-based design?
Model-based design can improve productivity, cost, and quality
...or it can make your product development miserable.
You must:
• understand, what you can do with models to successfully
adopt model-based design
• know the limitations of your model
… as the design and quality of models depend on this!

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Course overview
• Feedback principles and linear systems
• Modeling of dynamical system
• State feedback control
• State estimation
• Sampling and discretization
• Filtering

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 Aim
Modeling, control design and simulation are important tools supporting engineers in the
development of mobility systems, from early study of system concepts to optimization of
system performance. The course aims to provide a theoretical basis for model-based
design for mobility engineering. The course will cover
mathematical modeling from basic physical laws and
to use the developed models in design processes with
specific focus on mobility applications.

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Course overview
Feedback principles and linear systems

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Course overview
Modeling of dynamical systems
Analysis
Simulation
Model
Prediction
Design
𝑥̇ = 𝑓(𝑥, 𝑢, 𝑑)
𝑦 = ℎ(𝑥, 𝑢, 𝑑)

2023-08-29
Course overview
State feedback control
Analysis Reachability
Simulation
Model
Prediction
Design
𝑥̇ = 𝑓(𝑥, 𝑢, 𝑑)
Control design
𝑦 = ℎ(𝑥, 𝑢, 𝑑)
Tuning

Linearization State feedback control

𝑥̇ = 𝐴𝑥 + 𝐵𝑢 𝑢 = −𝐾𝑥 + 𝑘! 𝑟
𝑦 = 𝐶𝑥 + 𝐷𝑢
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Course overview
State estimation
Analysis Reachability
Simulation Observability
Model
Prediction
Design
𝑥̇ = 𝑓(𝑥, 𝑢, 𝑑)
Control design
𝑦 = ℎ(𝑥, 𝑢, 𝑑)
Estimator design

Linearization State feedback control

𝑥̇ = 𝐴𝑥 + 𝐵𝑢 −𝐾𝑥
𝑢 = −𝐾 𝑥5 + 𝑘! 𝑟
𝑦 = 𝐶𝑥 + 𝐷𝑢 𝑥5̇ = 𝐴𝑥5 + 𝐵𝑢 + 𝐿 𝑦 − 𝐶 𝑥5
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Course overview
Sampling, discretization and filtering

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 Learning outcomes
After completion of the course, you should be able to:
• Apply knowledge of basic mechanics on vehicular modeling in longitudinal, lateral and vertical
directions.
• Use methods and tools to develop mathematical models of dynamical systems by using basic physical
laws.
• Become familiar with the concept of state-space terminology.
• Linearize nonlinear continuous time models.
• Have knowledge of deriving discrete-time models by sampling.
• Analyze system models from controllability, observability and stability point of view.
• Explain, design, and analyze feedback controllers to meet a design specification.
• Explain, design, and analyze observers and apply them for state estimation.
• Detail the importance of adhering to the code of ethics in the engineering profession.
• Reflect on opportunities and challenges of working in a diverse team.
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 The end

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