Modelling of physical systems for the design and control of mechatronic systems

Amerongen, J. van; Breedveld, Pieter C.

doi:10.1016/s1367-5788(03)00010-5

Cited by 76 publications

(49 citation statements)

References 4 publications

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“…An example is the DSP board shown in Figure 4. More on the use of this port-based modeling approach for the design of mechatronics systems can be found in Van Amerongen (2002) and Van Amerongen and Breedveld (2003).…”

Section: Modeling Of Mechatronic Systemsmentioning

confidence: 99%

Mechatronics Education

Amerongen¹

2010

Mechatronics in Action

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A search at the internet for 'mechatronics education', yields many hits with information on many forms of academic mechatronic programs. They range from BSc to MSc programs as well as integrated four-or five-year programs. Sometimes there is a clear philosophy behind this choice, but often it is based on the local culture or possibilities. Several mechatronic programs seem to be based on just adding courses on electronics, PLC's and logic circuits to an existing ME curriculum. But mechatronics is more than just 'a controlled mechanical system'. Mechatronic design is 'the integrated and optimal design of a mechanical system and its embedded control system where solutions are sought that cross the borders of the different domains'. An integrated view on the system as a whole is needed in order to come to such a design. In addition to knowledge of the different components, a system overview offered by a proper interdisciplinary model of the system is essential. The curriculum should pay explicitly attention to this. Real mechatronic systems lead to out-of-the-box thinking and complete new products, which could not have been realized in a single domain. The optical disc, for instance, achieved its superior performance, among others, by replacing the need of accurate speed control, by an electronics-based clock. This was a revolutionary new approach which resulted in superior sounds. Without its embedded stabilizing controller a device like the Segway would be useless. But with this controller it is not only stable: a superior maneuverability is achieved in comparison to a mechanically stable device with more than two wheels. Any real mechatronics program should be based on a philosophy of obtaining synergy by an optimal combination of mechanics, electronics and information technology.In this chapter we will discuss several forms of mechatronic programs in curricula of the University of Twente of the past 20 years. Many students have been educated in different forms of educational programs . Changes in programs were often triggered by changes in the structure of university education, nation wide or even Europe wide. E.g. since a few years all universities in the EU are expected to offer academic education in the form of BSc and MSc programs.

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Section: Modeling Of Mechatronic Systemsmentioning

confidence: 99%

Mechatronics Education

Amerongen¹

2010

Mechatronics in Action

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“…The design and the analysis of such complex systems are usually conducted with analytical methods based on physical equations or signal-flow methods based on transfer functions written on a block diagrams form. Unfortunately, these two classical approaches may cause a loss of the physical sense and the visibility of the modeling assumptions [2,3]. Moreover, reusing models and taking account increasing complexity can be cumbersome and prone to errors because of the need of manual transformations so as to build physics-based model libraries with block diagrams [3].…”

Section: Introductionmentioning

confidence: 99%

Simulation of a helicopter’s main gearbox semiactive suspension with bond graphs

2016

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This paper presents a bond graph model of a helicopter's semi-active suspension and the associated simulations. The structural and modular approach proposed with bond graph permits a systematic modeling of mechatronic multibody systems. The model is built as an assembly of components or modules (rigid bodies and kinematic joints) by following the structure of the actual system. The bond graph model of the passive suspension with fixed flapping masses has been verified with another multi-body tool for three different excitations (pumping, roll and yaw). Next, the passive model, augmented with electrical actuators and controllers, is called the semi-active suspension model. Simulations on the semi-active suspension model have been conducted.

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“…Note however, that (12) contains the term i 1 -i 2 as well as v 2 which corresponds to the end-point velocity in the mechanical system or, in other words, the sum of the joint rates r 1 +r 2 . To obtain a correspondence between electrical and mechanical component values, the dynamic equation (10) …”

Section: The Mass/pulley (Mp) Modelmentioning

confidence: 99%

“…This coupling is modelled by c 12 and p' 12 in the equivalent electrical and mechanical models shown in Figure 13. Typically, parallel manipulators also have coupled damping terms due to their passive joints which would be modelled by a conductance g 12 added between nodes 1 and 2 (i.e.…”

Section: Parallel 2-dof Robotmentioning

confidence: 99%

“…The conditions for network synthesis are described by [1] and later applied by [8] who introduced bond graphs to distinguish and represent effort and flow variables in a graphical setting. Examples of electro-mechanical system simulations are numerous and include magnetic circuits [6], mechatronics and electromechanical transducers [11], [12], [9].…”

Section: Introductionmentioning

confidence: 99%

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Modelling Robot Dynamics with Masses and Pulleys

Stocco

Yedlin

Informatics in Control, Automation and Robotics

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Abstract. The well-known electro-mechanical analogy that equates current, voltage, resistance, inductance and capacitance to force, velocity, damping, stiffness and mass has a shortcoming in that mass can only be used to simulate a capacitor which has one terminal connected to ground. A new model that was previously proposed by the authors that combines a mass with a pulley (MP) is shown to simulate a capacitor in the general case. This new MP model is used to model the off-diagonal elements of a mass matrix so that devices whose effective mass is coupled between more than one actuator can be represented by a mechanical system diagram that is topographically parallel to its equivalent electric circuit model. Specific examples of this technique are presented to demonstrate how a mechanical model can be derived for both a serial and a parallel robot with both two and three degrees of freedom. The technique, however, is extensible to any number of degrees of freedom.

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Modelling of physical systems for the design and control of mechatronic systems

Cited by 76 publications

References 4 publications

Mechatronics Education

Mechatronics Education

Simulation of a helicopter’s main gearbox semiactive suspension with bond graphs

Modelling Robot Dynamics with Masses and Pulleys

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