Download Advances in High-Performance Motion Control of Mechatronic by Takashi Yamaguchi, Mitsuo Hirata, Chee Khiang Pang PDF
By Takashi Yamaguchi, Mitsuo Hirata, Chee Khiang Pang
Mechatronic structures are utilized in more than a few buyer items from large-scale braking structures in vehicular brokers to small-scale built-in sensors in cell phones. to maintain velocity within the aggressive shopper electronics undefined, businesses have to continually increase servo overview and place regulate of those mechatronic platforms. Advances in High-Performance movement regulate of Mechatronic platforms covers complex keep watch over subject matters for mechatronic functions. specifically, the publication examines keep an eye on platforms layout for ultra-fast and ultra-precise positioning of mechanical actuators in mechatronic systems.
The ebook systematically describes movement regulate layout equipment for trajectory layout, sampled-data particular positioning, brief keep an eye on utilizing switching keep watch over, and dual-stage actuator keep watch over. each one process is defined intimately, from theoretical facets to examples of tangible purposes together with hard drive drives, optical disk drives, galvano scanners, own mobility robots, and extra. This is helping readers higher know how to translate regulate theories and algorithms from idea to layout and implementation in real looking engineering structures. The e-book additionally identifies vital learn instructions and complex keep watch over ideas which can offer recommendations for the following new release of high-performance mechatronics.
Bridging study and undefined, this ebook offers state of the art keep watch over layout methodologies which are generally appropriate to industries corresponding to production, robotics, domestic home equipment, cars, printers, and optical drives. It courses readers towards more suitable options for high-performance mechatronic structures of their personal items.
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Extra info for Advances in High-Performance Motion Control of Mechatronic Systems
4 Experimental Results . . . . . . . . . . . . . . . . . . Industrial Application: Galvano Scanner II . . . . . . . . . . . 1 Voltage Saturation in Current Ampliﬁer . . . . . . . . 2 FSC Design Considering Voltage Saturation in Current Ampliﬁer . . . . . . . . . . . . . . . . . . . . . . . . . 3 Application to Galvano Scanner Control Problem . . . 1, where P and K are the transfer functions of the plant and the controller, respectively, and u is a control input, y is a output, r is a reference input, d is a disturbance, n is a measurement noise, and e = r − y is an error.
2 Minimum Jerk Input A smooth feedforward input does not excite the mechanical vibration modes of the plant easily. One method to obtain the smooth feedforward input is to minimize the square integral of the jerk, which is the derivative of the acceleration . When the plant is a rigid-body system as P = 1/s2 , the input u(t) is the acceleration. As such, the minimum jerk input can be obtained by minimizing the cost function 2 T d J= u(t) dt. 7, and the state-space equation of the augmented system is given by ⎤⎡ ⎤ ⎡ ⎤ ⎡ ⎤ ⎡ 0 1 0 p(t) ˙ 0 p(t) ⎦ = ⎣ 0 0 1 ⎦ ⎣ v(t) ⎦ + ⎣ 0 ⎦ ua (t) ⎣ v(t) ˙ 0 0 0 a(t) ˙ 1 a(t) x A = Ax(t) + Bua (t), B where p(t), v(t), and a(t) are position, velocity, and acceleration, respectively.
3 Simulation Results . . . . . . . . . . . . . . . . . . . . 4 Experimental Results . . . . . . . . . . . . . . . . . . Industrial Application: Galvano Scanner II . . . . . . . . . . . 1 Voltage Saturation in Current Ampliﬁer . . . . . . . . 2 FSC Design Considering Voltage Saturation in Current Ampliﬁer . . . . . . . . . . . . . . . . . . . . . . . . . 3 Application to Galvano Scanner Control Problem .