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2012 | Buch

Introduction Kapitel lesen Erstes Kapitel lesen

Mechatronic Systems

Analysis, Design and Implementation

verfasst von: El-Kébir Boukas, Fouad M. AL-Sunni

Verlag: Springer Berlin Heidelberg

Enthalten in: Springer Professional "Wirtschaft+Technik" , Springer Professional "Technik" , Springer Professional "Wirtschaft"

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Über dieses Buch

This book deals with the analysis, the design and the implementation of the mechatronic systems. Classical and modern tools are developed for the analysis and the design for such systems. Robust control, H-Infinity and guaranteed cost control theory are also used for analysis and design of mechatronic systems. Different controller such as state feedback, static output feedback and dynamic output feedback controllers are used to stabilize mechatronic systems.

Heuristic algorithms are provided to solve the design of the classical controller such as PID, phase lead, phase lag and phase lead-lag controllers while linear matrix inequalities (LMI) algorithms are provided for finding solutions to the state feedback, static output feedback and dynamic output feedback controllers.

The theory presented in the different chapters of the volume is applied to numerical examples to show the usefulness of the theoretical results. Some case studies are also provided to show how the developed concepts apply for real system.

Emphasis is also put on the implementation in real-time for some real systems that we have developed in our mechatronic laboratory and all the detail is provided to give an idea to the reader how to implement its own mechatronic system.

Mechatronics Systems: Analysis, Design and Implementation is an excellent textbook for undergraduate and graduate students in mechatronic system and control theory and as a reference for academic researchers in control or mathematics with interest in control theory. The reader should have completed first-year graduate courses in control theory, linear algebra, and linear systems. It will also be of great value to engineers practising in fields where the systems can be modeled by linear time invariant systems.

Inhaltsverzeichnis

Frontmatter

Introduction

Introduction
Abstract
The progress and the miniaturization we have seen in electronics during the last decades have allowed engineers to come up with new products and new engineering disciplines. Early in the eighteens we have seen the introduction of new products that combines mechanical parts with electronics parts. Another factor that gives a booming to mechatronics applications is the continuously decreasing prices of the electronic parts and the challenges to design very small systems. Today, for instance microprocessors with high performances are becoming very cheap which encourages their uses in computer controlled systems.
El-Kébir Boukas, Fouad M. AL-Sunni

I Mechatronic Systems

Frontmatter
Mechatronic Systems
Mechatronics
Let us examine the design of an autonomous car which may be used for navigating in the floor of a building, and to move from different offices in the same floor. There are two main approaches for achieving the design of this autonomous car. The first design approach follows the classical design method. In this approach, the mechanical design is done first. After getting a satisfactory mechanical design, the electronic system is designed. In the final stage, the control system is designed.
El-Kébir Boukas, Fouad M. AL-Sunni

II Modeling

Frontmatter
Mathematical Modeling
Abstract
It is well known that the mathematical modeling is a hard problem in control engineering. Most of the engineers working in this field agree on that. Any practical system has inputs and outputs. The outputs are variables that we would like to control or keep at certain levels, while, some of the inputs are variables on which we can act to change the outputs of the dynamical system. The rest of the inputs are referred to as external disturbances that are beyond our control.
El-Kébir Boukas, Fouad M. AL-Sunni

III Transfer Function Approaches

Frontmatter
Analysis Based on Transfer Function
Introduction
Nowadays the microcontrollers are more powerful and their prices are affordable which makes their use attractive. In mechatronic systems they are used either for On/Off or continuous-time controls. In both cases, the microcontroller is the hearth of the mechatronic system. In the On/Off case, it is used for security and control purposes. The algorithm in this case is easy and doesn’t take time in general to compute the action to be taken. While for the continuous-time case, the microcontroller receives the data at each sampling period and compute the desired action according to a chosen algorithm. The computation in this case may take more time and more care should be taken to prevent surprises. In both cases interrupts are used. The microcontrollers we will use in this book must have a quite high processing speed.
El-Kébir Boukas, Fouad M. AL-Sunni
Design Based on Transfer Function
Introduction
Tackling a control design problem is always a challenge even for more experienced control engineers. The system for which the controller must be designed, may be an existing one with some poor performances and that we would like to improve, or a new system that we are building. In both cases, the design procedure starts, after getting the mathematical model for the system, by defining the desired performances that will allow us to determine the structure of the controller and its parameters.
El-Kébir Boukas, Fouad M. AL-Sunni

IV State Space Approaches

Frontmatter
Analysis Based on State Space
Introduction
As it was seen before the state space representation is one of the ways to model dynamical systems (see [5, 4, 1]).
El-Kébir Boukas, Fouad M. AL-Sunni
Design Based on State Space
Introduction
In the last chapters, we showed how to analysis and design linear time-invariant systems. The analysis has been done either using the state space or the transfer function descriptions. We showed also how to compute the performances of the given system. At the design phase we showed that using the transfer function description we were able to design some controllers like, the PID, the phase-lag, phase-lead or the phase lead-lag controllers. To compute the parameters of such controllers some procedures have been developed. We have also seen that the design can be done into two steps. The first one uses the specifications of the system to choose the appropriate structure of the controller. Once this is fixed, the parameters of this controller are determined using the proposed procedures.
El-Kébir Boukas, Fouad M. AL-Sunni

V Implementation

Frontmatter
Design and Implementation of Mechatronic System
Introduction
In the last chapters we developed theoretical concepts and it is now time to pass to action and show how these concepts apply for real systems and how we can implement them in real time. This chapter deals with the design and the real-time implementation of algorithms for mechatronic systems. The design process consists of creating the physical mechatronic system and once this system is designed the next step consists of implementing the intelligence we want to give the system. The two phases are not independent and care should be paid during the execution of these two phases. In either the design or the implementation, specifications must be stated first and the request task is done in order to satisfy these restrictions.
El-Kébir Boukas, Fouad M. AL-Sunni

VI Advanced Control

Frontmatter
Robust Control
Abstract
Previously we showed that any dynamical system can be described by the following state space description:
$$ \begin{cases} \dot x(t) = A_c x(t) + B_c u(t) \\ y(t) = C_c x(t) + D_c u(t) \end{cases} (9.1) $$
where x(t) ∈ ℝ n , u(t) ∈ ℝ m , y(t) ∈ ℝ p design respectively the state, the input and the output of the system, and A c , B c , C c , and D c , are known matrices with appropriate dimensions.
El-Kébir Boukas, Fouad M. AL-Sunni
Guaranteed Cost Control Problem
Introduction
In the previous chapter, we presented different results that can be used to deal with nominal and uncertain systems and also with systems that are subject to external disturbances. LMI conditions were developed to design controller to achieve the desired goal. In this chapter we consider uncertain discrete-time with norm bounded uncertainties and try to present results that can be used to design a controller such that the resulting closed-loop system is asymptotically stable while an upper bound on the closed-loop value of the associated linear quadratic cost function is guaranteed.
El-Kébir Boukas, Fouad M. AL-Sunni

VII Case Studies

Frontmatter
Case Studies
Introduction
In the previous chapters we developed some concepts that we illustrated their applications by academic examples to show the readers how these results apply. More specifically, we have seen how to design the mechatronic systems and we have presented the different steps that we must follow to success the design of the desired mechatronic system. We have presented the approaches that we must use in the design of:
  • the mechanical part
  • the electronic circuit
  • the program in C for the real-time implementation
These tools were applied for some practical systems and more details were given to help the reader to execute his own design.
El-Kébir Boukas, Fouad M. AL-Sunni
Backmatter
Metadaten
Titel
Mechatronic Systems
verfasst von
El-Kébir Boukas
Fouad M. AL-Sunni
Copyright-Jahr
2012
Verlag
Springer Berlin Heidelberg
Electronic ISBN
978-3-642-22324-2
Print ISBN
978-3-642-22323-5
DOI
https://doi.org/10.1007/978-3-642-22324-2

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