Motion control and servo systems

(MET 437)
Lecture 0
Introduction to course

Dr. Mohamed Saber Sokar

Course Organization
 Mohamed Saber Sokar, PhD, Assistance Professor
 Eng.
 Lectures and Practice: Tuesdays, MET437, 09:50 - 11:30

 Course info and contact:

Email: [email protected]
Dr. Mohamed Saber Sokar 2 Session 00

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 Course Information

Institute/ Faculty: Canadian International College

Department offering the program: Mechanical Engineering Department
Department offering the course: Mechatronics engineering
1- Course Data (Basic Information)
Course Code: MET431 Course Title: Motion control and servo systems
Semester/Level: Spring (2nd)/2022-2023 Level: 4
Core or Elective: Core Course
Prerequisite Course(s): MET361 (Automatic control)
Credit Hours: 3
Weekly Contact Hours:
Lecture: 2 Tutorial: 2 Laboratory: 1
Dr. Mohamed Saber Sokar 3 Session 00

Course aims(Learning Objectives)

By the end of the course, students will:
provide students with the basic knowledge and skills for
understanding servo system and its applications.

Perform mathematical modeling of one axis in a mechatronic

servo system.

Dr. Mohamed Saber Sokar 4 Session 00

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 Course description (contents)
3- Course Contents (As indicated in the program Bylaw)
 Introduction: characteristic of servo system applications, control 
patterns, issues relevant to mechatronic servo systems. Mathematical 
modeling: 4"order model of one axis in a mechatronic servo system, 
reduced order model of one axis in a mechatronic servo system, linear 
models. Discrete‐time interval of a mechatronic servo system: sampling 
time interval, relation between reference input time interval and 
velocity fluctuation, relation between reference input time interval and 
locus irregularity. Quantization error of a mechatronic servo system: 
encoder resolution, torque resolution. Torque saturation of a 
mechatronic servo system: measurement method for the torque 
saturation property, contour control method with avoidance of torque 
saturation. Master‐slave synchronous positioning control: control 
method, contour control with master‐slave synchronous positioning.
Dr. Mohamed Saber Sokar 5 Session 00

‫ﻣﺤﺘﻮﻯ ﺍﻟﻤﻘﺮﺭ‬
‫ ﺍﻟﺗﺣﻛﻡ ﻓﻲ ﺍﻟﺣﺭﻛﺔ ﻭﺍﻟﻣﺅﺍﺯﺭﺍﺕ‬437 ‫ ﻣﻛﺕ‬
‫ ﺃﻧﻣﺎﻁ ﻧﻅﻡ ﺍﻟﺗﺣﻛﻡ ﺍﻟﻣﻭﺿﻭﻋﺎﺕ ﺫﺍﺕ ﺍﻟﺻﻠﺔ‬،‫ ﻣﻘﺩﻣﺔ ﺧﻭﺍﺹ ﺗﻁﺑﻳﻘﺎﺕ ﺗﻧﻅﻡ ﺍﻟﻣﺅﺍﺯﺭﺍﺕ‬
‫ ﺍﻟﻧﻣﻭﺫﺝ ﻣﻥ ﺍﻟﺩﺭﺟﺔ ﺍﻟﺭﺍﺑﻌﺔ ﻟﻠﻣﺅﺛﺭﺍﺕ ﺫﺍﺕ‬:‫ ﺍﻟﻧﻣﺫﺟﺔ ﺍﻟﺭﻳﺎﺿﻳﺔ‬.‫ﺍﻟﻣﺅﺍﺯﺭﺍﺕ ﺍﻟﻣﻳﻛﺎﺗﺭﻭﻧﻳﺔ‬
‫ ﺍﻟﻧﻣﺎﺫﺝ ﺍﻟﺧﻁﻳﺔ‬،‫ ﺍﻟﻧﻣﺎﺫﺝ ﺍﻟﻣﺑﺳﻁ ﺍﻟﻣﺅﺍﺯﺭﺍﺕ ﺫﺍﺕ ﺍﻟﻣﺣﻭﺭ ﺍﻟﻭﺍﺣﺩ‬،‫ﺍﻟﻣﺣﻭﺭ ﺍﻟﻭﺍﺣﺩ‬
‫ ﺍﻟﻌﻼﻗﺔ ﺑﻳﻥ ﺍﻟﺷﺎﺭﺓ ﺍﻟﺩﺧﻝ‬،‫ ﻓﺗﺭﺓ ﺃﺧﺫ ﺍﻟﻌﻳﻧﺎﺕ‬:‫ﻟﻠﻣﺅﺍﺯﺭﺍﺕ ﺍﻟﺧﻁﻳﺔ ﻓﻲ ﺍﻟﺯﻣﻥ ﺍﻟﻣﻔﺻﻝ‬
.‫ ﺍﻟﻌﻼﻗﺔ ﺑﻳﻥ ﺍﺷﺎﺭﺓ ﺍﻟﺩﺧﻝ ﺍﻟﻣﺭﺟﻌﻳﺔ ﻭ ﺍﻟﻣﺳﺎﺭ ﻏﻳﺭ ﺍﻟﻣﻧﺗﻅﻡ‬،‫ﺍﻟﻣﺭﺟﻌﻳﺔ ﻭﺗﺄﺭﻳﺦ ﺍﻟﺳﺭﻋﺔ‬
‫ﻧﻅﻡ‬
‫ ﺗﺷﺑﻊ ﺍﻟﻌﺯﻡ ﻓﻲ ﻧﻅﻡ ﺍﻟﻣﺅﺍﺯﺭﺍﺕ‬،‫ ﺍﻻﺧﻁﺎء ﻧﺗﻳﺟﺔ ﺍﻟﺗﺣﻭﻳﻝ ﺍﻟﻰ ﺍﻟﺗﺣﻛﻡ ﺍﻟﺭﻗﻣﻲ‬
،‫ ﻧﻅﻡ ﺍﻟﺗﺣﻛﻡ ﻓﻲ ﺍﻟﻣﺳﺎﺭ ﻣﻊ ﺗﻔﺎﺩﻱ ﺗﺷﺑﻊ ﺍﻟﻌﺯﻡ‬،‫ ﻁﺭﻕ ﻗﻳﺎﺱ ﺍﻟﻌﺯﻡ ﺍﻟﻣﺷﺑﻊ‬:‫ﺍﻟﻣﻳﻛﺎﺗﺭﻭﻧﻳﺔ‬
‫ ﺍﻟﺗﺣﻛﻡ ﻓﻲ‬،‫ ﻧﻅﻡ ﺍﻟﺗﺣﻛﻡ‬:‫ﺍﻟﺗﺣﻛﻡ ﻓﻲ ﺍﻟﻣﻭﺿﻊ ﻟﻣﺅﺍﺯﺭﻳﻥ ﺃﺣﺩﻫﻣﺎ ﺃﺳﺎﺳﻲ ﻭﺍﻻﺧﺭ ﺗﺎﺑﻊ‬
‫ﺍﻟﻣﺳﺎﺭ ﻓﻲ ﻭﺟﻭﺩ ﻣﺅﺍﺯﺭﻳﻥ ﺃﺣﺩﻫﻣﺎ ﺃﺳﺎﺳﻲ ﻭ ﺍﻵﺧﺭ ﺗﺎﺑﻊ‬

Dr. Mohamed Saber Sokar 6 Session 00

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 Laboratory
 1. Experimental Verification of the mathematical
model of a servo system.
 2. Steady state velocity fluctuation and locus
irregularity of servo systems
 3. Relation between encoder resolution and control
performance
 4. Measurement of torque saturation curve
 5. Contour control considering torque saturation

Dr. Mohamed Saber Sokar 7 Session 00

Program Competencies
4- Program Competencies Served by The Course (A1, B1 and B2)
Level (A) Engineering Competencies (2018)
A.1 Identify, formulate, and solve complex engineering problems by
applying engineering fundamentals, basic science and mathematics.

Level (B) Mechanical Engineering Competencies (NARS)

B.1 Model, analyze and design physical systems applicable to the
specific discipline by applying the concepts of servo systems.
B.2 Plan, manage and carry out designs of mechanical systems and
machine elements using appropriate materials both traditional means
and computer-aided tools and software contemporary to the mechanical
engineering field support to energy and sustainable energy

Dr. Mohamed Saber Sokar 8 Session 00

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 Learning outcomes
 At the end of the course, the student will be able to:
Cognitive Domain

LO1 Classification and Control patterns of servo systems

LO2 Mathematical modeling of one axis in a mechatronic servo system

Psychomotor Domain
LO3 Discrete‐time interval of a mechatronic servo system
LO4 Quantization error of a mechatronic servo system
Affective Domain
LO5 Torque saturation of a mechatronic servo system
LO6 Master‐slave synchronous positioning control

Dr. Mohamed Saber Sokar 9 Session 00

Lecture plane-1/3
Plan
Learning Outcomes
ned
Week Topics Hou LO1 LO2 LO3 LO4 LO5 LO6
rs
Introduction to Course: Aim of the course –
Intended learning outcomes - Course Layout and
W1 3 
contents – Evaluation methods – Course plan
review on fundamental.
characteristic of servo system applications, control 
W2 patterns, issues relevant to mechatronic servo  3  
systems. 
Mathematical modeling: 4"order model of one
W3 axis in a mechatronic servo system, reduced order 3  
model of one axis in a mechatronic servo system
Linear models. Discrete‐time interval of a
W4 3  
mechatronic servo system: sampling time interval
Relation between reference input time interval
W5 3  
and velocity fluctuation.
Relation between reference input time interval
W6 3  
and locus irregularity.
Dr. Mohamed Saber Sokar 10 Session 00

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 Lecture plane-2/3

Plan
Learning Outcomes
ned
Week Topics Hou LO1 LO2 LO3 LO4 LO5 LO6
rs
- Revision on the previous parts
W7 3 
-Midterm Exam (30% exam)
Quantization error of a mechatronic servo
W8 3  
system: encoder resolution.
Quantization error of a mechatronic servo
W9 3  
system: encoder resolution.
Torque saturation of a mechatronic servo
W10 system: measurement method for the 3  
torque
saturation property, contour control method
W11 2  
with avoidance of torque saturation.

Dr. Mohamed Saber Sokar 11 Session 00

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Lecture plane-3/3
Plan
Learning Outcomes
ned
Week Topics Hou LO1 LO2 LO3 LO4 LO5 LO6
rs
W12 -Evaluation exam (20%) 3 
Master‐slave synchronous positioning
W13 3  
control: control method
Master‐slave synchronous positioning
W14 control: contour control with master‐slave 3  
synchronous positioning.
W15 Final term examination 3  

Dr. Mohamed Saber Sokar 12 Session 00

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 Student Assessment Methods
 Assignments to assess knowledge and intellectual skills.
 Quizzes to assess knowledge, intellectual and
professional skills.
 Mid-term exam to assess knowledge, intellectual,
professional and general skills.
 Evaluation exam to assess knowledge, intellectual,
professional and general skills
 Lab work to assess knowledge and intellectual skills.
 Final exam to assess knowledge, intellectual,
professional and general skills.

Dr. Mohamed Saber Sokar 13 Session 00

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Assessment schedule
 Assessment 1: Assignments on weeks 2, 3, 4, 5, 6, 8, 9,
10, 11, 13
 Assessment 2: Quizzes on weeks 3, 5, 11
 Assessment 3: Mid-term exam on week 7
 Assessment 4: Evaluation exam on week 12
 Assessment 5: Reports on week 13
 Assessment 6: Final exam on week 15

Dr. Mohamed Saber Sokar 14 Session 00

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 Follow-up
 Lectures: can be interactive, with questions and
interactive problem solving
 Practical / sections: mandatory attendance
 Each session has a problem-solving assignment to be done
individually in class
 Read lecture notes/slides and corresponding textbook chapters
before attending the section/lab session !

Dr. Mohamed Saber Sokar 15 Session 00

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Policies and Grading

 Weighting of Assessments
 Final grade: 100 Marks
 10% Attendance:
o Section and lectures

 20% Semester class work (project):

o Section/lab sessions and course activity

 20% Mid Term Examination

o Answer punctual questions to solve given exercises

 10% Quizzes and Evaluation Examination

o Answer punctual questions to solve given exercises

 40 % Final term written Examination

o Answer punctual questions to solve given exercises.
Dr. Mohamed Saber Sokar 16 Session 00

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 References
9- List of references

1. M. Nakamura, S. Goto & N Kyura, Mechatronic servo

system control, Springer, 2004.

Dr. Mohamed Saber Sokar 17 Session 00

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