Integrated control system and mechanical design of a compliant two-axes mechanism

Rieber, Jochen M.; Taylor, David G.

doi:10.1016/j.mechatronics.2004.04.008

Cited by 22 publications

(8 citation statements)

References 7 publications

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“…In the case of mechatronic systems with configuration-dependent dynamics, LPV controllers are widely employed [4,5,20]. Using the simulation framework described by Eqs.…”

Section: Modelingmentioning

confidence: 99%

“…For machines with configuration-dependent dynamics, two control strategies can be adopted: (1) LTI controllers, that can be explicitly designed to take into account the dynamic variations as uncertainties, like robust controllers designed using l-synthesis or (2) linear time-varying (LTV) controllers, that can adapt according to the parameter variations, such as LPV controllers [4] and LPV gain-scheduling controllers [20].…”

Section: Controllermentioning

confidence: 99%

“…In other words, for each set of structure parameters, a control, with a general structure, is designed using model-based control design techniques. The nested design strategy has been employed for designing a gain-scheduling control to achieve compensation for the varying mass distribution, to suppress structural bending, vibrations and friction disturbances, and to achieve shorter motion settling time [4]. Recently, [5] have proposed a general platform for designing serial and parallel machines based on the nested design strategy.…”

Section: Introductionmentioning

confidence: 99%

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Integrated structure and control design for mechatronic systems with configuration-dependent dynamics

et al. 2009

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a b s t r a c tThis paper considers the optimal design of mechatronic systems with configuration-dependent dynamics. An optimal mechatronic design requires that, among the structural and control parameters, an optimal choice has to be made with respect to design specifications in the different domains. Two main challenges are treated in this paper: the non-convex nature of the optimization problem and the difficulty in modeling serial machines with flexible components and their embedded controllers. The optimization problem is treated using the direct design strategy which considers simultaneously structural and control parameters as variables and adopts non-convex optimization algorithms. Linear time-invariant and gain-scheduling PID controllers are addressed. This methodology is exploited for the multi-objective optimization of a pick-and-place assembly robot with a gripper carried by a variable-length flexible beam. The resulting design tradeoffs between system accuracy and control efforts demonstrate the advantage of an integrated design approach for mechatronic systems with configuration-dependent dynamics.

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“…In the case of mechatronic systems with configuration-dependent dynamics, LPV controllers are widely employed [4,5,20]. Using the simulation framework described by Eqs.…”

Section: Modelingmentioning

confidence: 99%

Section: Controllermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Integrated structure and control design for mechatronic systems with configuration-dependent dynamics

et al. 2009

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“…Some applications are structures with active control [1][2][3], mechatronics [4][5][6][7], mechanisms [8][9][10][11][12][13], microelectrical mechanical systems (MEMS) [14][15][16], and chemical processing applications [17,18]. These applications include important systems such as robotics [19], aeronautical structures, machine tools, sensors and automotive applications [20,21].…”

Section: Introductionmentioning

confidence: 99%

Relationship between coupling and the controllability Grammian in co-design problems

2015

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a b s t r a c tDesign of smart products requires optimization of both the physical device, or artifact, and its controller. While some components of coupling can be computed a priori, the existence and strength of coupling between these problems over the entire Pareto frontier currently cannot be computed until they are solved. If coupling is expected to be present, then the problem is often solved as a simultaneous, or all-in-one, optimization. This solution process is more difficult, computationally intensive, and operationally inconvenient than a sequential solution method. Consequently, knowing in advance whether coupling is weak or nonexistent is useful.In this paper, a general formulation for the control problem is given, which includes components for the speed of response, accuracy of the response, and control effort. While this general formulation does not permit a priori determination of coupling, the existence and strength of coupling can be determined for several special cases, which represent common and important control problems. Controllability is a property of the uncontrolled system and does not depend on the controller design. These relationships between coupling and controllability can be utilized in problem formulation, choice of solution method, and development of Control Proxy Functions (CPFs) for each of these problem types. The concepts developed are demonstrated via design of a positioning gantry and a MEMS actuator.

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“…Because such a design method doesn't consider aspects from a control point of view during the design of the physical system and the design and optimize of the mechanical system and control system were done separately [4][5][6][7] . It is necessary to treat the system as a whole and considering the mechanical aspects and control aspects concurrently in the design phase in order to reach global optimism.…”

Section: Introductionmentioning

confidence: 99%

Integrated structure-control simulation method for fast steering mirror system

Lü

Ding

Zhang

2012

2012 International Conference on Optoelectronics and Microelectronics

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An integrated structure-control simulation method (ISCS) was developed in this paper to enable designer to better assess the final control performance in the design study phase for a two-axis fast steering mirror (FSM) system. Basic idea of ISCS method and principle of FSM were introduced and proceeding of ISCS method was conduced in detail for a given two-axis FSM. Experimental results impacted the general validity of the work or concept presented in this paper.

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Integrated control system and mechanical design of a compliant two-axes mechanism

Cited by 22 publications

References 7 publications

Integrated structure and control design for mechatronic systems with configuration-dependent dynamics

Integrated structure and control design for mechatronic systems with configuration-dependent dynamics

Relationship between coupling and the controllability Grammian in co-design problems

Integrated structure-control simulation method for fast steering mirror system

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