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Electrical Servo-drives

Higher education institution:
Faculty of Mechanical Engineering and Naval Architecture
ECTS credits:
9(E) + 6(E) + 30(L)
Issuing teachers:

Professor Joško Deur, PhD

Assistant Professor Mario Hrgetić, PhD

Course contractors:

Assistant Professor Branimir Škugor, PhD (E)

Assistant Professor Mario Hrgetić, PhD (L)

Professor Joško Deur, PhD (L)

Course description:
Course objectives: To present basic and advanced subjects in electrical drives with emphasis on controlled electrical drives and servodrives Enrolment requirements and required entry competences for the course: Previous attendance at any subject from the "Electrical engineering" subject group, such as: "Electrical engineering" "Electrical engineering and electrical machines" "Electronics" Student responsibilities: Teaching activities consist of lectures and auditory and laboratory exercises, wherein student attendance is regularly checked. A minimum attendance rate of 70% is strictly enforced. Inappropriate behavior is not tolerated during examinations. Grading and evaluation of student work over the course of instruction and at a final exam: During the semester, two semester exams (colloquia) are organized in the 7th and 15th week of lectures. Successfully completed colloquia are equivalent to a onetime successful written exam. Maximum proportions of individual exam components: Written exam 50% (alternatively 1st and 2nd colloquia equal to 25% + 25%) Oral exam 50% Grading system: 5 87% or more, 4 76% to 87%, 3 65% to 76%, 2 50% 65%, 1 below 49% Methods of monitoring quality that ensure acquisition of exit competences: At the beginning of each lecture or exercise, a brief recapitulation of previously presented subject matter is performed (up to 5 minutes). During the lectures/excercise interactive teaching process is established. Afterwards, students are pointed towards further broadening the subject matter via appropriate literature. The subject matter for the next lecture/exercise is announced and additional teaching materials are offered. Consultations, either in person or via email correspondence, are also encouraged. During the semester, students are given the opportunity to actively participate in practical laboratory exercises which further illustrate the subject matter presented at lectures and auditory exercises. Results of semester exams (colloquia) are used as indirect quality indicators of the teaching process. Upon successful completion of the course, students will be able to (learning outcomes): analyze the stationary operation of electrical drives in motoring and braking regimes based on available electrical machine and load static characteristics select a primemover electrical machine with respect to load cycle characteristics envision the servodrive power converter control system select appropriate current, speed and position sensors for electrical servodrive application analyze the dynamic behavior of openloop controlled electrical drive, including the working mechanism compliance and friction effects design the electrical drive current, speed and position cascade control system extend the electrical drive cascade control system with reference trajectory tracking system validate the performance of electrical servodrive Lectures 1. Basic characteristics of electrical drives 2. Electrical braking 3. Dynamic behaviour of electrical drives 4. Selection of electrical drives 5. Structure of controlled electrical drive 6. Electronic power convertes and control devices 7. Sensors in servodrives 8. Tuning of speed control loop 9. Positioning 10. Tracking 11. Step motors and their control 12. Other special motors 13. Influence of torsion, friction, and backlash effects in transmission mechanisms 14. Compensation of torsion and friction effects 15. Applications of servo drives Exercises 1. Mechanical characteristic of DC motors, adjustment of motor speed (EXERC) 2. Electrical braking (EXERC) 3. DC motors, recording of mechanical characteristic (LAB) 4. DC motor, adjustment of speed (LAB) 5. Selection of electrical drives (EXERC) 6. Electronic power convertes (EXERC) 7. Knowledge verification I 8. Tuning of speed control loop (EXERC) 9. Positioning (EXERC) 10. Tracking (EXERC) 11. Demonstration of electrical drive speed control (LAB) 12. Positioning (LAB) 13. Demonstration of friction influence on positioning and tracking performance (LAB) 14. Friction compensation (LAB) 15. Knowledge verification II
Course languages:


Mandatory literature:

1. Skalicki, B., Grilec J.: "Električni strojevi i pogoni", Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, 2005.

2. Leohard, W.: "Control of Electrical Drives", Springer-Verlag, Berlin, 1985.

Recommended literature:

3. Wolf, R: "Osnove električnih strojeva", Školska knjiga, Zagreb, 1991.

4. Jurkovic, B.: "Elektromotorni pogoni", Školska knjiga, Zagreb, 1990.

5. Gugic, P.: "Električni servomotori", Školska knjiga, Zagreb, 1987.

6. Deur, J.: "Kompenzacija učinaka elastičnosti i trenja u prijenosnim mehanizmima slijednih sustava", doktorska disertacija, Fakultet elektrotehnike i računarstva, Sveučilište u Zagrebu, 1999.

7. Pavković, D., Deur, J.: "Modeling and Control of Electronic Throttle Drive", Lambert Academic Publishing, Saarbrucken, Germany, 2011.

Course in study programme:
Code Name of study Level of study Semester Required/Elective
254 Mechanisms and Robots graduate 3 required
23 Mechatronics and Robotics undergraduate 5 required


  • E - Exercises
  • L - Lectures