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Lecturer(s)
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Černohorský Josef, doc. Ing. Ph.D.
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Hlava Jaroslav, doc. Dr. Ing.
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Course content
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Lectures: 1) Input/output and state space description of systems, definition of stability, stability criteria, extension and amplification of the students' previous knowledge in this field. 2) Feedback control, digital PID controllers, digital approximation of analogue controllers, selection of sampling interval. 3) Classical advanced control techniques: cascade control, feedforward compensators, Smith predictor controller. 4) Basic principles of model based predictive control 5) Control structures and methods used for automatic anaesthesia control 6) Feedback control of blood glucose. 7) Dialysis modelling and control. 8) Actuators using electromagnetic field DC motors, voice coil a solenoid actuators and their control. 9) Position, speed and acceleration sensors, torque sensors. 10) Brushless motors, principles of electronic commutation, application of brushless motors in medical devices 11) AC drives induction motor, scalar open-loop control 2) Synchronous servodrives linear and rotational, control of synchronous servodrives 3) Solid state actuators and other miniature drives in medical applications 14) Motion control systems, their basic functionalities Laboratories and seminars: 1) Advanced topics in MATLAB/Simulink programing, simulation of control loops 2) Programming and testing of a digital PID controller 3) Simulation of control cascades and feedforward compensators, comparison with simple single loop control 4) Demonstration of the capabilities of model predictive control using Matlab MPC Toolbox 5) Simulation of anaesthesia control 6) Simulation of blood glucose control 7) Simulation of dialysis control 8) Demonstration of DC motor control, energy balance, calculation of motor power output and efficiency 9) Drive dimensioning specification of the semestral assignment 10) Demonstration of brushless Maxon Epos drives 11) Parameter setting of drive control algorithms, demonstration of cascade feedback control and feedforward control structures. 12) Modelling of general electrical machine, its torque, speed and position control. 13) Demonstration of induction motor control using a frequency converter 14) Parameterisation of a frequency converter
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Learning activities and teaching methods
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Monological explanation (lecture, presentation,briefing), Laboratory work
- Contacts hours
- 56 hours per semester
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Learning outcomes
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The aim of the course is to deepen knowledge in the field of automatic control in two basic ways. In the first part of the course, students should acquire basic knowledge about the methods of automatic control and the possibilities for their biomedical applications. The second main theme of the course is the issue of control actuators, especially electric drives. This area is important in relation to the actuators of medical devices. Moreover, it is an essential prerequisite for more advanced courses in robotics as electric actuators and control systems are one of the most important components of more complex units of robots and manipulators.
Students that have completed this course will obtain good orientation in the field of cybernetic and automatic control systems and their biomedical applications with special emphasis on emerging new applications such as closed loop control of blood glucose, anaesthesia control and dialysis control. Besides they will obtain theoretical foundations and practical skills in the field of design and implementation of electrical drives and drive control systems. They will understand their functional principles as well as programming methods.
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Prerequisites
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Condition of registration: none
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Assessment methods and criteria
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Combined examination
Activity on the seminars and successful passing the tests are required for getting a credit. Examination is of the written and /or oral form (s). Understanding of the lectured topics is required.
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Recommended literature
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Azar Ahmad Taher (Ed.). Modelling and Control of Dialysis Systems. Springer Verlag, 2013. ISBN 978-3-642-27457-2.
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Frederick Ch., & Tyrone F. Closed-Loop Control of Blood Glucose. Springer Verlag, 2007. ISBN 978-3-540-74030-8.
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Hacisalihzade Selim. Biomedical Applications of Control Engineering. Springer Verlag, 2013. ISBN 978-3-642-37279-.
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Voženílek Petr. Elektromechanické měniče. Praha, 2005. ISBN 978-80-01-03137-7.
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