Modeling and design of mechanical and mechatronic systems

The analysis of dynamic behavior and the synthesis of control systems for mechanical and mechatronic devices requires a highly interdisciplinary approach. This requires a deep understanding of highly interrelated mechanical, mathematical, electrical, electronic, and computer science aspects.
The application of advanced control strategies (e.g., adaptive, fuzzy, sliding-mode, genetic, backstepping, model-based, fractional calculus, reinforcement learning, neural network, and their possible combinations) can significantly improve the overall performance of closed-loop systems. This improvement can be quantified in terms of readiness, precision, stability, rejection of external disturbances, adaptability to variable operating conditions, and energy efficiency.
Unfortunately, there is still a large gap between the state-of-the-art research and the industrial scenario, and necessarily, to enable effective technology transfer of cutting-edge techniques, aspects of human-machine interface, connectivity in the context of Industry 4.0, safety, reliability, and costs must also be carefully considered.
DIME researchers have extensive experience in the theoretical analysis of machines and mechanisms, in the multibody dynamic simulation of complex systems, and in the experimental implementation of closed-loop controlled mechanisms and mechanical systems.
The figures show some examples:
Fig. 1 – Test rig for non-circular gears with variable gear ratio as a function of angle
Fig. 2 – Test rig for controlling a rotor driven by a brushless motor using a fractional-based algorithm

Laboratories

  • Mechanical Computer Aided Engineering (MCAELab)
  • Mechanical Design for Automation and Robotics (PMARLab)

Publications

  • Luca Bruzzone, Pietro Fanghella, Mario Baggetta, Experimental assessment of fractional-order PDD1/2 control of a brushless DC motor with inertial load, Actuators, 9(1), 13, 2020.
  • Luca Bruzzone, Pietro Fanghella, Giovanni Berselli, Reinforcement Learning control of an onshore oscillating arm Wave Energy Converter, Ocean Engineering, 206, Article number 107346, 2020.
  • Pietro Fanghella, Luca Bruzzone, Stefano Ellero, Roberto Landò, Kinematics, efficiency and dynamic balancing of a planetary gear train based on nutating bevel gears, Mechanics Based Design of Structures and Machines, 44(1-2), pp. 72-85, 2016.
  • Luca Bruzzone, Pietro Fanghella, Fractional-Order Control of a Micrometric Linear Axis, Journal of Control Science and Engineering, Article ID 947428, 2013.
  • Luca Carbonari, Luca Bruzzone, Massimo Callegari, Impedance Control of a Spherical Parallel Platform, International Journal of Intelligent Mechatronics and Robotics, 1(1), pp. 40-60, 2011.

 

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