Green Industrial Engineering for Sustainable Development

ANTONIO CULLA
NICOLA ROVERI

GOAL OF THE COURSE
The course aims at providing the student with three different and fundamental tools in the design of
mechatronic devices:
1.) become familiar with new notions in the field of electromechanical systems modelling and their
control, mixing fundamental mechanics, principle of control, sensors and actuators technology
2.) develop the ability of using the acquired notions in the context of design starting from scratch
3.) became able to compare their own design and engineering proposal with those existing at the state
of the art, also by interrogating patent databases

This course aims to provide students with a unified theoretical framework for the study of mechatronic systems, integrating concepts from mechanics, electronics, and computer science. The analysis of mechatronic systems is approached through a combination of theory and practical application, allowing students to understand and design embedded systems that enhance the functionality of modern devices. Key topics covered include:
1. Principles of multi-physics dynamics and variational formulations.
2. Optimal control and applications of LQR and LQG controllers.
3. Design and synthesis of mechatronic systems, including system architecture and definition of KPIs (Key Performance Indicators).
Students, under the guidance of the teacher, will use advanced software tools such as Matlab, Simulink, and Simscape to simulate and analyze the dynamics of various mechatronic components and systems. The aim is to make students proficient in the use of advanced technologies for the analysis and synthesis of mechatronic systems, allowing them to apply the theoretical knowledge acquired during the course to real engineering problems. Through practical examples, such as the electronically controlled suspension system for vehicles, students will gain critical skills in programming electronic devices and designing functional components and complex systems. This will prepare students to face real-world challenges and contribute significantly to innovation in the field of mechatronics.

The course is taught in a self-contained manner as much as possible. However, the student should already be familiar with the fundamental notions of kinematics, dynamics, vector analysis and matrix theory, and with Lagrangian and Hamiltonian dynamics, and with vibration dynamics. These basics are typically taught in the first three years of the degree program. The reference subjects are Analysis I and II, Geometry, Applied Mechanics, Physics I and Rational Mechanics, Vibration Mechanics.

1 Principles of Multiphysics and Variational Dynamics (Max 9 – Lessons)
L1_1
1.1 introduction
1.2 Variational formulation
1.2.1 Basis of variational calculus
1.2.2 An example of application of the variational calculus to shape optimization
L1_2- L1_3
1.3 Hamiltonian formulation of Mechanics
1.4 Equivalence between Newtonian and Hamiltonian formulations
1.4.1 Worked examples in matlab of 1 and 2 DOF systems
L1_4
1.5 Application of the Hamilton’s principle to structural dynamics
1.5.1 Vibration of point masses elastically connected
1.5.2 Vibration of continuous elastic structures
1.5.2.1 The Euler-Bernoulli equation for the beam vibration
L1_5
1.5.2.2 The Rayleigh-Bernoulli equation for the beam vibration
The Timoshenko’s equations for beam vibration
1.5.2.4 Axial vibration of a bar
1.5.2.5 Axial-bending vibration of a bar
1.5.2.6 Vibration of coupled rigid-elastic motion: structure lability
L1_6
1.6 The Hamiltonian formulation of the electromagnetic problems
1.7 Hamilton principle of circuits with lumped parameters
L1_7
1.8 General equations of mechatronic systems
1.9 Constant coefficients, time varying coefficients, and state-dependent coefficients
1.10 Linearization of the equations of motion
1.11 The general scheme of the controlled mechatronic system

L1_8
1.12 Modal Analysis and Worked examples in simulink

 
2 Principles of OPTIMAL CONTROL (Max 11 – Lessons)
L2_1
1. General considerations about control systems
L2_2
2. Variational control in general
3. Euler-Lagrange equation for the variational control
L2_3
4. LQR approach: from the single degree of freedom to the N degrees of freedom
4.1 An instructive elemental example of LQR application
L2_4
5. Generalization of the LQR approach and the Kalman filter
5.1 Min-Max deterministic disturbance approach
L2_5
5.2 Kalman Filter by the variational approach
L2_6
5.3 Random disturbance and LQG
5.4 Generalized form of objective functions
5.5 Integral feedback by LQR
L2_7
6. Variational theory design for a nonlinear nonhomogeneous cruise controller
L2_8
7. Applications of LQR, Min-Max LQR and LQG to nonhomogeneous cruise control
L2_9
8. Cruise control including the pneumatic-servo actuator
L2_10
9. Application of LQR to vessel roll control (without including actuators dynamics)
L2_11
10. LQR design to vessel roll control including actuators dynamics



 
3 Design of Mechatronic Systems (Max 4 – Lessons)
Architecture of a mechatronic system
Definition of system KPIs
Plant, Sensors, Motors/Actuators, Controllers
Outline design of the architecture
Design of subcomponents (plant, sensors, controller, motors/actuators)
Synthesis of Controllers with Optimal Control Methods
Design Verification Using Simulink Simulation
Design examples: Electronically controlled intelligent suspension system for motor vehicles, attitude stabilization systems of a drone. Programming of dedicated electronic boards (Arduino). Experience in the Vehicle Dynamics and Mechatronics laboratory (Cisterna di Latina)
Analysis of a patent and consultation of patent databases: Europe Patent Office, US Patent Office

N. Roveri Lecture notes
Micromechatronics: Modeling, Analysis, and Design with MATLAB, Second Edition, Victor Giurgiutiu, Sergey Edward Lyshevski, 2009 by CRC Press.
Vehicle System Dynamics and Mechatronics, A. Carcaterra, Chapter IV "Elements of Control", Sapienza Università Editrice, 2018
Fundamentals of Vibration, L.Meirovitch, McGraw-Hill, 2001
Appunti di Meccanica delle Vibrazioni, A. Carcaterra, 2004
Notes on Signal Analysis, N. Roveri, 2016

Frontal teaching, course attendance is recommended and is in class.

Frontal teaching, course attendance is recommended and is in class.

Examination Procedure
The exam is divided into two parts
1. Analysis of a mechatronics problem using Matlab/Simulink/Simscape. Example:
The student must do:
A report of about 5 pages
Video presentation of the 15 min project
2. Written exam of about 2 or 3 hours concerning the topics covered during the course.

Describe Hamilton's principle and its application to structural dynamics. Give a specific example where you applied variational calculus to solve a shape optimization problem in a mechatronic context. How do these concepts influence the design of modern mechatronic systems?
It explains how LQR control is applied in adjusting the dynamics of a vehicle, including or not the dynamics of the actuators. What are the main differences between the LQR and LQG approaches, and how do these methodologies affect the stability and efficacy of control under randomly disturbed conditions?"