- •What is Mechatronics?
- •1.4 The Development of the Automobile as a Mechatronic System
- •Vehicles. (Adapted from Modern Control Systems, 9th ed., r. C. Dorf and r. H. Bishop, Prentice-Hall, 2001. Used with permission.)
- •1.5 What is Mechatronics? And What’s Next?
- •Information technology (systems theory, automation, software engineering, artificial intelligence).
- •Figure 2.2 Mechanical process and information processing develop towards mechatronic systems
- •2.2 Functions of Mechatronic Systems
- •Improvement of Operating Properties
- •Table 2.2 Properties of Conventional and Mechatronic Design Systems
- •2.3 Ways of Integration
- •Figure 2.4 Ways of integration within mechatronic systems.
- •2.4 Information Processing Systems (Basic Architecture and hw/sw Trade-offs)
- •Figure 2.5 Advanced intelligent automatic system with multi-control levels, knowledge base, inference mechanisms, and interfaces.
- •2.5 Concurrent Design Procedure for Mechatronic Systems
- •• An Automotive Example
- •• Software Design
- •3.2 Input Signals of a Mechatronic System
- •3.3 Output Signals of a Mechatronic System
- •3.4 Signal Conditioning
- •3.5 Microprocessor Control
- •3.6 Microprocessor Numerical Control
- •3.7 Microprocessor Input–Output Control
- •Input and Output Transmission
- •3.8 Software Control
- •4.4 Microprocessors and Microcontrollers
- •4.5 Programmable Logic Controllers
- •5.2 Microactuators
- •5.3 Microsensors
- •5.4 Nanomachines
- •6.2 Nano-, Micro-, and Mini-Scale Electromechanical Systems and Mechatronic Curriculum
- •6.3 Mechatronics and Modern Engineering
- •Integrated multidisciplinary features approach quickly, as documented in Fig. 6.2. The mechatronic paradigm, which integrates electrical, mechanical, and computer engineering, takes place.
- •6.4 Design of Mechatronic Systems
- •6.5 Mechatronic System Components
- •6.7 Mechatronic Curriculum
- •Integrating electromagnetics, electromechanics, power electronics, iCs, and control;
- •6.8 Introductory Mechatronic Course
- •6.9 Books in Mechatronics
- •6.10 Mechatronic Curriculum Developments
- •Introduction to Mechatronics,
- •7.3 Rigid Body Models
6.5 Mechatronic System Components
Mechatronics integrates electromechanical systems design, modeling, simulation, analysis, software-hardware developments and co-design, intelligence, decision making, advanced control (including self-adaptive, robust, and intelligent motion control), signal/image processing, and virtual prototyping. The mechatronic paradigm utilizes the fundamentals of electrical, mechanical, and computer engi-neering with the ultimate objective to guarantee the synergistic combination of precision engineering, electronic control, and intelligence in the design, analysis, and optimization of electromechanical systems. Electromechanical systems (robots, electric drives, servomechanisms, pointing systems, assem-blers) are highly nonlinear systems, and their accurate actuation, sensing, and control are very chal-lenging problems. Actuators and sensors must be designed and integrated with the corresponding power electronic subsystems. The principles of matching and compliance are general design principles, which require that the electromechanical system architectures should be synthesized integrating all subsystems and components. The matching conditions have to be determined and guaranteed, and actuators– sensors–power electronics compliance must be satisfied. Electromechanical systems must be controlled, and controllers should be designed. Robust, adaptive, and intelligent control laws must be designed, examined, verified, and implemented. The research in control of electromechanical systems aims to find methods for devising intelligent and motion controllers, system architecture synthesis, deriving feedback maps, and obtaining gains. To implement these controllers, microprocessors and DSPs with ICs (input-output devices, A/D and D/A converters, optocouplers, transistor drivers) must be used. Other problems are to design, optimize, and verify the analysis, control, execution, emulation, and evaluation software.
It was emphasized that the design of high-performance mechatronic systems implies the subsystems and components developments. One of the major components of mechatronic systems are electric machines used as actuators and sensors. The following problems are usually emphasized: characterization of electric machines, actuators, and sensors according to their applications and overall systems require-ments by means of specific computer-aided-design software; design of high-performance electric machines, actuators, and sensors for specific applications; integration of electric motors and actuators with sensors, power electronics, and ICs; control and diagnostic of electric machines, actuators, and sensors using microprocessors and DSPs.
6.6 Systems Synthesis, Mechatronics Software, and Simulation
Modeling, simulation, and synthesis are complementary activities performed in the design of mechatronic systems. Simulation starts with the model developments, while synthesis starts with the specifications imposed on the behavior and analysis of the system performance through analysis using modeling, simulation, and experimental results. The designer mimics, studies, analyzes, and evaluates the mecha-tronic system’s behavior using state, performance, control, events, disturbance, and other variables. The synthesis process was described in section 6.4. Modeling, simulation, analysis, virtual prototyping, and visualization are critical and urgently important aspects for developing and prototyping of advanced electromechanical systems. As a flexible high-performance modeling and design environment, MATLAB has become a standard, cost-effective tool. Competition has prompted cost and product cycle reductions. To speed up analysis and design with assessment analysis, facilitate enormous gains in productivity and creativity, integrate control and signal processing using advanced microprocessors and DSPs, accelerate prototyping features, generate real-time C code and visualize the results, perform data acquisition and data intensive analysis, the MATLABR environment is used. In MATLAB, the following commonly used toolboxes can be applied: SIMULINKR, Real-Time Workshop™, Control System, Nonlinear Control Design, Optimization, Robust Control, Signal Processing, Symbolic Math, System Identification, Partial Differ-ential Equations, Neural Networks, as well as other application-specific toolboxes (see the MATLAB demo typing demo in the Command Window). MATLAB capabilities should be demonstrated by attacking important practical examples in order to increase students’ productivity and creativity by demonstrating how to use the advanced software in electromechanical system applications. The MATLAB environment offers a rich set of capabilities to efficiently solve a variety of complex analysis, modeling, simulation, control, and optimization problems encountered in undergraduate and graduate mechatronic courses. A wide array of mechatronic systems can be modeled, simulated, analyzed, and optimized. The electro-mechanical systems examples, integrated within mechatronic courses, will provide the practice and educate students with the highest degree of comprehensiveness and coverage.